2026-03-13T04:43:22.390Z,1773377002.390 [CommandExec](IMPORTANT): got command restart logs
2026-03-13T04:43:27.527Z,1773377007.527 [CommandExec](IMPORTANT): got command schedule resume
2026-03-13T04:46:06.289Z,1773377166.289 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2026-03-13T04:46:06.289Z,1773377166.289 [Default:CheckIn:C.Wait] Stopped
2026-03-13T04:46:06.289Z,1773377166.289 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2026-03-13T04:46:06.289Z,1773377166.289 [Default:CheckIn:D] Running Loop=1
2026-03-13T04:46:06.699Z,1773377166.699 [Default:CheckIn:D] Stopped
2026-03-13T04:46:06.699Z,1773377166.699 [Default:CheckIn:E] Running Loop=1
2026-03-13T04:46:07.107Z,1773377167.107 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  6.180559 min 
2026-03-13T04:46:07.107Z,1773377167.107 [Default:CheckIn:E] Stopped
2026-03-13T04:46:07.107Z,1773377167.107 [Default:CheckIn](INFO): Completed Default:CheckIn
2026-03-13T04:46:07.107Z,1773377167.107 [Default:CheckIn] Stopped
2026-03-13T04:46:07.107Z,1773377167.107 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2026-03-13T04:46:07.107Z,1773377167.107 [Default:CheckIn](INFO): Running loop #2
2026-03-13T04:46:07.108Z,1773377167.108 [Default:CheckIn] Running Loop=2
2026-03-13T04:46:07.108Z,1773377167.108 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2026-03-13T04:46:07.108Z,1773377167.108 [Default:CheckIn:Read_GPS] Running Loop=1
2026-03-13T04:46:09.109Z,1773377169.109 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,044608.00,A,3647.99696,N,12152.47383,W,0.428,320.59,130326,,,A*75
2026-03-13T04:46:09.123Z,1773377169.123 [NAL9602](INFO): GPS fix at 20260313T044608: (36.799949, -121.874564)
2026-03-13T04:46:09.143Z,1773377169.143 [Default:CheckIn:Read_GPS] Stopped
2026-03-13T04:46:09.147Z,1773377169.147 [Default:CheckIn:Read_Iridium] Running Loop=1
2026-03-13T04:46:16.279Z,1773377176.279 [DataOverHttps](INFO): Sending 167 bytes from file Logs/20260313T043621/Courier0007.lzma
2026-03-13T04:46:17.281Z,1773377177.281 [DataOverHttps](INFO): Moved sent file to Logs/20260313T043621/Courier0007.lzma.bak
2026-03-13T04:46:17.281Z,1773377177.281 [DataOverHttps](INFO): SBD MOMSN=26729687
2026-03-13T04:46:32.142Z,1773377192.142 [NAL9602](INFO): SBD MO Status=2, MOMSN=32748, MT Status=2, MTMSN=0
2026-03-13T04:46:32.142Z,1773377192.142 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T04:46:33.055Z,1773377193.055 [DataOverHttps](INFO): Sending 268 bytes from file Logs/20260313T044322/Courier0000.lzma
2026-03-13T04:46:34.057Z,1773377194.057 [DataOverHttps](INFO): Moved sent file to Logs/20260313T044322/Courier0000.lzma.bak
2026-03-13T04:46:34.057Z,1773377194.057 [DataOverHttps](INFO): SBD MOMSN=26729689
2026-03-13T04:46:51.551Z,1773377211.551 [DataOverHttps](INFO): Sending 142 bytes from file Logs/20260313T043621/Express0008.lzma
2026-03-13T04:46:52.553Z,1773377212.553 [DataOverHttps](INFO): Moved sent file to Logs/20260313T043621/Express0008.lzma.bak
2026-03-13T04:46:52.553Z,1773377212.553 [DataOverHttps](INFO): SBD MOMSN=26729697
2026-03-13T04:46:52.769Z,1773377212.769 [NAL9602](INFO): SBD MO Status=1, MOMSN=32748, MT Status=0, MTMSN=0
2026-03-13T04:46:52.769Z,1773377212.769 [NAL9602](INFO): No messages in MT queue
2026-03-13T04:47:10.588Z,1773377230.588 [DataOverHttps](INFO): Sending 513 bytes from file Logs/20260313T044322/Express0001.lzma
2026-03-13T04:47:11.589Z,1773377231.589 [DataOverHttps](INFO): Moved sent file to Logs/20260313T044322/Express0001.lzma.bak
2026-03-13T04:47:11.589Z,1773377231.589 [DataOverHttps](INFO): SBD MOMSN=26729700
2026-03-13T04:47:23.524Z,1773377243.524 [NAL9602](INFO): Not Powering down - fast GPS
2026-03-13T04:47:27.455Z,1773377247.455 [DataOverHttps](INFO): Sending 54 bytes from file Logs/20260313T044322/Express0002.lzma
2026-03-13T04:47:28.457Z,1773377248.457 [DataOverHttps](INFO): Moved sent file to Logs/20260313T044322/Express0002.lzma.bak
2026-03-13T04:47:28.457Z,1773377248.457 [DataOverHttps](INFO): SBD MOMSN=26729705
2026-03-13T04:47:30.001Z,1773377250.001 [Default:CheckIn:Read_Iridium] Stopped
2026-03-13T04:47:30.001Z,1773377250.001 [Default:CheckIn:C.Wait] Running Loop=1
2026-03-13T04:47:30.001Z,1773377250.001 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2026-03-13T04:52:11.537Z,1773377531.537 [DataOverHttps](IMPORTANT): SBD MTMSN=20260313T045210
2026-03-13T04:52:18.899Z,1773377538.899 [DataOverHttps](INFO): Received command: load Transport/keepstation.tl;set keepstation.MissionTimeout 12 h;set keepstation.NeedCommsTime 60 min;set keepstation.Latitude 36.797 degree;set keepstation.Longitude -121.847 degree;run
2026-03-13T04:52:19.002Z,1773377539.002 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2026-03-13T04:52:19.002Z,1773377539.002 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2026-03-13T04:52:19.002Z,1773377539.002 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2026-03-13T04:52:19.004Z,1773377539.004 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2026-03-13T04:52:20.236Z,1773377540.236 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/keepstation.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="keepstation">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>0.75</Value>
    </DefineArg>
    <DefineArg Name="Radius">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="SinkOffSurface">
        <False />
    </DefineArg>
    <DefineArg Name="SinkDepth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SinkDepthTimeout">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineOutput Name="DiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DoingComms">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="SurfaceSink">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="TransitToStation">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="StationKeep">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <DefineOutput Name="OnStation">
        <False />
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Pitch>
        <Parallel />
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="SurfaceComms">
        <When>
            <Called />
            <Or>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedCommsTime" />
                </Gt>
            </Or>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="DoingComms" />
        </Assign>
        <Call RefId="NeedComms" PriorityHere="false" />
        <Aggregate Id="HandleNan">
            <Sequence />
            <Break>
                <Not>
                    <IsNaN>
                        <Arg Name="Latitude" />
                    </IsNaN>
                </Not>
                <And>
                    <Not>
                        <IsNaN>
                            <Arg Name="Longitude" />
                        </IsNaN>
                    </Not>
                </And>
            </Break>
            <Aggregate Id="SetOnStation">
                <Sequence />
                <Break>
                    <Not>
                        <IsNaN>
                            <Arg Name="Latitude" />
                        </IsNaN>
                    </Not>
                    <Or>
                        <Not>
                            <IsNaN>
                                <Arg Name="Longitude" />
                            </IsNaN>
                        </Not>
                    </Or>
                </Break>
                <Assign>
                    <Sequence />
                    <Arg Name="OnStation" />
                    <True />
                </Assign>
            </Aggregate>
            <Aggregate Id="SetLat">
                <Sequence />
                <Break>
                    <Not>
                        <IsNaN>
                            <Arg Name="Latitude" />
                        </IsNaN>
                    </Not>
                </Break>
                <Assign>
                    <Sequence />
                    <Arg Name="Latitude" />
                    <Universal:latitude_fix />
                </Assign>
            </Aggregate>
            <Aggregate Id="SetLon">
                <Sequence />
                <Break>
                    <Not>
                        <IsNaN>
                            <Arg Name="Longitude" />
                        </IsNaN>
                    </Not>
                </Break>
                <Assign>
                    <Sequence />
                    <Arg Name="Longitude" />
                    <Universal:longitude_fix />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="setTransit">
            <Sequence />
            <Break>
                <Arg Name="SinkOffSurface" />
                <Or>
                    <Arg Name="OnStation" />
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="TransitToStation" />
            </Assign>
        </Aggregate>
        <Aggregate Id="setStation">
            <Sequence />
            <Break>
                <Arg Name="SinkOffSurface" />
                <Or>
                    <Not>
                        <Arg Name="OnStation" />
                    </Not>
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="StationKeep" />
            </Assign>
        </Aggregate>
        <Aggregate Id="setSink">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="SinkOffSurface" />
                </Not>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="SurfaceSink" />
            </Assign>
        </Aggregate>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="StartingMission" PriorityHere="false" />
    <Aggregate Id="DiveCmd">
        <When>
            <Called />
        </When>
        <Aggregate Id="SurfaceSink">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SurfaceSink" />
                </Eq>
            </While>
            <Aggregate Id="sink">
                <Sequence />
                <Guidance:Buoyancy Id="BuoyancyHold">
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Units:cubic_centimeter />
                        <Value>NaN</Value>
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Units:meter_per_second />
                        <Value>0</Value>
                    </Setting>
                </Guidance:SetSpeed>
                <Syslog Severity="Info">
                    Sinking to 
                    <Arg Name="SinkDepth" />
                    <Units:meter />
                </Syslog>
                <Guidance:Pitch>
                    <Sequence />
                    <Timeout Duration="SinkDepthTimeout">
                        <Syslog Severity="Important">
                            Timed out while trying to reach target sink depth at current depth of 
                            <Universal:depth />
                            <Units:meter />
                        </Syslog>
                    </Timeout>
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="SinkDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Aggregate Id="sinkToTransit">
                    <Sequence />
                    <Break>
                        <Arg Name="OnStation" />
                    </Break>
                    <Assign>
                        <Sequence />
                        <Arg Name="DiveMode" />
                        <Arg Name="TransitToStation" />
                    </Assign>
                </Aggregate>
                <Aggregate Id="sinkToStation">
                    <Sequence />
                    <Break>
                        <Not>
                            <Arg Name="OnStation" />
                        </Not>
                    </Break>
                    <Assign>
                        <Sequence />
                        <Arg Name="DiveMode" />
                        <Arg Name="StationKeep" />
                    </Assign>
                </Aggregate>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="TransitToStation">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="TransitToStation" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Control:VerticalControl.buoyancyNeutral />
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="ApproachDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Arg Name="Speed" />
                    </Setting>
                </Guidance:SetSpeed>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="StationKeep">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="StationKeep" />
                </Eq>
            </While>
            <Assign>
                <Parallel />
                <Control:VerticalControl.depthDeadband />
                <Arg Name="DepthDeadband" />
            </Assign>
            <Guidance:Pitch>
                <Parallel />
                <Setting>
                    <Guidance:Pitch.depth />
                    <Arg Name="Depth" />
                </Setting>
            </Guidance:Pitch>
            <Guidance:KeepStation>
                <Parallel />
                <Setting>
                    <Guidance:KeepStation.latitude />
                    <Arg Name="Latitude" />
                </Setting>
                <Setting>
                    <Guidance:KeepStation.longitude />
                    <Arg Name="Longitude" />
                </Setting>
                <Setting>
                    <Guidance:KeepStation.radius />
                    <Arg Name="Radius" />
                </Setting>
                <Setting>
                    <Guidance:KeepStation.speed />
                    <Arg Name="Speed" />
                </Setting>
            </Guidance:KeepStation>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="TransitToStation">
        <Sequence />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" PriorityHere="false" />
        </Aggregate>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
        </Guidance:Waypoint>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="StationKeep" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="OnStation" />
            <True />
        </Assign>
    </Aggregate>
    <Call RefId="NeedComms" Id="OnStation" PriorityHere="false" />
    <Aggregate Id="KeepStation">
        <Sequence />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" PriorityHere="false" />
        </Aggregate>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="MissionTimeout" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
</Mission>

2026-03-13T04:52:20.252Z,1773377540.252 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2026-03-13T04:52:20.255Z,1773377540.255 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2026-03-13T04:52:20.258Z,1773377540.258 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2026-03-13T04:52:20.261Z,1773377540.261 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2026-03-13T04:52:20.264Z,1773377540.264 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2026-03-13T04:52:20.267Z,1773377540.267 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2026-03-13T04:52:20.270Z,1773377540.270 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2026-03-13T04:52:20.273Z,1773377540.273 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2026-03-13T04:52:20.276Z,1773377540.276 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2026-03-13T04:52:20.278Z,1773377540.278 [MissionManager](INFO): DefineArg keepstation.SinkOffSurface = 0 bool
2026-03-13T04:52:20.282Z,1773377540.282 [MissionManager](INFO): DefineArg keepstation.SinkDepth = 10.000000 m
2026-03-13T04:52:20.285Z,1773377540.285 [MissionManager](INFO): DefineArg keepstation.SinkDepthTimeout = 10.000000 min
2026-03-13T04:52:20.290Z,1773377540.290 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2026-03-13T04:52:20.293Z,1773377540.293 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2026-03-13T04:52:20.316Z,1773377540.316 [MissionManager](INFO): DefineOutput keepstation.DiveMode = 0.000000 count
2026-03-13T04:52:20.319Z,1773377540.319 [MissionManager](INFO): DefineOutput keepstation.DoingComms = 0.000000 count
2026-03-13T04:52:20.326Z,1773377540.326 [MissionManager](INFO): DefineOutput keepstation.SurfaceSink = 1.000000 count
2026-03-13T04:52:20.334Z,1773377540.334 [MissionManager](INFO): DefineOutput keepstation.TransitToStation = 2.000000 count
2026-03-13T04:52:20.337Z,1773377540.337 [MissionManager](INFO): DefineOutput keepstation.StationKeep = 3.000000 count
2026-03-13T04:52:20.352Z,1773377540.352 [MissionManager](INFO): DefineOutput keepstation.OnStation = 0 bool
2026-03-13T04:52:20.352Z,1773377540.352 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2026-03-13T04:52:20.353Z,1773377540.353 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2026-03-13T04:52:20.354Z,1773377540.354 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2026-03-13T04:52:20.799Z,1773377540.799 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1500</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="DoingCommsMode">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="RestoreMode">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="IsActive">
        <False />
    </DefineOutput>
    <DefineOutput Name="RequiredDiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Aggregate Id="setActive">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="RequiredDiveMode" />
            <Arg Name="DoingCommsMode" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="IsActive" />
            <True />
        </Assign>
    </Aggregate>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <Aggregate Id="setRestoreMode">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="RequiredDiveMode" />
            <Arg Name="RestoreMode" />
        </Assign>
    </Aggregate>
    <Aggregate Id="setInactive">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="IsActive" />
            <False />
        </Assign>
    </Aggregate>
</Aggregate>

2026-03-13T04:52:20.806Z,1773377540.806 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2026-03-13T04:52:20.809Z,1773377540.809 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2026-03-13T04:52:20.812Z,1773377540.812 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2026-03-13T04:52:20.815Z,1773377540.815 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2026-03-13T04:52:20.818Z,1773377540.818 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2026-03-13T04:52:20.821Z,1773377540.821 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1500.000000 s
2026-03-13T04:52:20.824Z,1773377540.824 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2026-03-13T04:52:20.827Z,1773377540.827 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2026-03-13T04:52:20.830Z,1773377540.830 [MissionManager](INFO): DefineArg keepstation:NeedComms.DoingCommsMode = 0.000000 count
2026-03-13T04:52:20.833Z,1773377540.833 [MissionManager](INFO): DefineArg keepstation:NeedComms.RestoreMode = 0.000000 count
2026-03-13T04:52:20.836Z,1773377540.836 [MissionManager](INFO): DefineOutput keepstation:NeedComms.IsActive = 0 bool
2026-03-13T04:52:20.839Z,1773377540.839 [MissionManager](INFO): DefineOutput keepstation:NeedComms.RequiredDiveMode = 0.000000 count
2026-03-13T04:52:20.914Z,1773377540.914 [keepstation:NeedComms:C.GoToSurface](DEBUG): Construct GoToSurface.
2026-03-13T04:52:21.014Z,1773377541.014 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2026-03-13T04:52:21.014Z,1773377541.014 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2026-03-13T04:52:21.019Z,1773377541.019 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2026-03-13T04:52:21.140Z,1773377541.140 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2026-03-13T04:52:21.149Z,1773377541.149 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2026-03-13T04:52:21.153Z,1773377541.153 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2026-03-13T04:52:21.164Z,1773377541.164 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2026-03-13T04:52:21.167Z,1773377541.167 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2026-03-13T04:52:21.172Z,1773377541.172 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2026-03-13T04:52:21.188Z,1773377541.188 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2026-03-13T04:52:21.206Z,1773377541.206 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2026-03-13T04:52:21.227Z,1773377541.227 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2026-03-13T04:52:21.228Z,1773377541.228 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2026-03-13T04:52:21.229Z,1773377541.229 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2026-03-13T04:52:21.295Z,1773377541.295 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2026-03-13T04:52:21.307Z,1773377541.307 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2026-03-13T04:52:21.322Z,1773377541.322 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2026-03-13T04:52:21.330Z,1773377541.330 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2026-03-13T04:52:21.330Z,1773377541.330 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2026-03-13T04:52:21.331Z,1773377541.331 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2026-03-13T04:52:21.548Z,1773377541.548 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2026-03-13T04:52:21.553Z,1773377541.553 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2026-03-13T04:52:21.564Z,1773377541.564 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2026-03-13T04:52:21.566Z,1773377541.566 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2026-03-13T04:52:21.570Z,1773377541.570 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2026-03-13T04:52:21.581Z,1773377541.581 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 0 bool
2026-03-13T04:52:21.597Z,1773377541.597 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2026-03-13T04:52:21.598Z,1773377541.598 [keepstation:H.Pitch](DEBUG): Construct.
2026-03-13T04:52:21.730Z,1773377541.730 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2026-03-13T04:52:21.738Z,1773377541.738 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2026-03-13T04:52:21.772Z,1773377541.772 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2026-03-13T04:52:21.809Z,1773377541.809 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Construct Buoyancy.
2026-03-13T04:52:21.814Z,1773377541.814 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Construct.
2026-03-13T04:52:21.831Z,1773377541.831 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Construct.
2026-03-13T04:52:21.841Z,1773377541.841 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Construct.
2026-03-13T04:52:21.856Z,1773377541.856 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Construct KeepStation.
2026-03-13T04:52:21.874Z,1773377541.874 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2026-03-13T04:52:21.920Z,1773377541.920 [keepstation:KeepStation:B.Wait](DEBUG): Construct Wait.
2026-03-13T04:52:21.956Z,1773377541.956 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission keepstation {
  """
  Vehicle transits to desired waypoint (or stays put if none is commanded)
  and stays within the specified radius.
  """

  arguments {
    MissionTimeout = 4 hour
      """
      Maximum duration of mission
      """

    NeedCommsTime = 45 minute
      """
      How often to surface for communications
      """

    Latitude = NaN degree
      """
      Latitude of waypoint to hold. If NaN, hold the latitude at start of
      mission.
      """

    Longitude = NaN degree
      """
      Longitude of waypoint to hold. If NaN, hold the longitude at start of
      mission.
      """

    Depth = 30 meter
      """
      Depth held during drift mode
      """

    ApproachDepth = 15 meter
      """
      Depth for initial approach to station.
      """

    DepthDeadband = 4 meter
      """
      How much vertical drift from the specified depth is allowed in drift
      mode
      """

    Speed = 0.75 meter_per_second
      """
      Vehicle transit speed.
      """

    Radius = 200 meter
      """
      Radius of circle around waypoint to hold.
      """

    SinkOffSurface = false
      """
      If true, use buoyancy only to decend to SinkDepth before driving to first target depth
      """

    SinkDepth = 10 meter
      """
      Initial depth to decend using only buoyancy before driving
      """

    SinkDepthTimeout = 10 minute
      """
      Max wait time for the vehicle to reach the target depth
      """

    MaxDepth = 45 meter
      """
      Maximum allowable depth during the mission.
      """

    MinOffshore = 2 kilometer
      """
      Minimum distance from the shoreline to maintain
      """
  }

  output {
    DiveMode = 0 count
      """
      Mission variable (don't change). The mission sets this variable to
      switch between dive modes. Initialized to DoingComms.
      """

    DoingComms = 0 count
      """
      Mission variable (don't change). The mission will run in this mode
      when doing surface comms.
      """

    SurfaceSink = 1 count
      """
      Mission variable (don't change). The mission will run in this mode
      when sinking from the surface using only buoyancy.
      """

    TransitToStation = 2 count
      """
      Mission variable (don't change). The mission will run in this mode
      when performing the transit to station
      """

    StationKeep = 3 count
      """
      Mission variable (don't change). The mission will run in this mode
      when keeping station
      """

    OnStation = false
      """
      Mission variable (don't change). Determines last mode (Transit or StationKeep)
      to resume after needcomms
      """
  }

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  behavior Guidance:Pitch {
    run in parallel

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate SurfaceComms {
    run when (
      called
      or ( elapsed ( Universal:time_fix ) > NeedCommsTime )
    )

    assign in sequence DiveMode = DoingComms

    call priorityHere=false refId="NeedComms"

    aggregate HandleNan {
      run in sequence

      break if (
        not isNaN ( Latitude )
        and not isNaN ( Longitude )
      )

      # If both lat and lon are nan, we are implicitly on station and should skip initial transit, so force OnStation to true
      aggregate SetOnStation {
        run in sequence

        break if (
          not isNaN ( Latitude )
          or not isNaN ( Longitude )
        )

        assign in sequence OnStation = true
      }

      # The "assigns" here mean we should only ever run these aggregates once
      # An initial NaN lat/lon should be set here during the initial surface NeedComms call
      # Use the most recent fix -- if there isn't one, the keepstation behavior will use Universal:lat/lon
      aggregate SetLat {
        run in sequence

        break if ( not isNaN ( Latitude ) )

        assign in sequence Latitude = Universal:latitude_fix
      }

      aggregate SetLon {
        run in sequence

        break if ( not isNaN ( Longitude ) )

        assign in sequence Longitude = Universal:longitude_fix
      }
    }

    aggregate setTransit {
      run in sequence

      break if (
        SinkOffSurface
        or OnStation
      )

      assign in sequence DiveMode = TransitToStation
    }

    aggregate setStation {
      run in sequence

      break if (
        SinkOffSurface
        or not OnStation
      )

      assign in sequence DiveMode = StationKeep
    }

    aggregate setSink {
      run in sequence

      break if ( not SinkOffSurface )

      assign in sequence DiveMode = SurfaceSink
    }
  }

  call id="StartingMission" priorityHere=false refId="SurfaceComms"

  aggregate DiveCmd {
    run when ( called )

    aggregate SurfaceSink {
      run while ( DiveMode == SurfaceSink )

      aggregate sink {
        run in sequence

        behavior Guidance:Buoyancy id="BuoyancyHold" {
          run in parallel

          set position = NaN cc
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = 0 m/s
        }

        syslog info "Sinking to " + SinkDepth~meter

        behavior Guidance:Pitch {
          run in sequence

          timeout duration=SinkDepthTimeout {
            syslog important "Timed out while trying to reach target sink depth at current depth of "
                 + Universal:depth~meter
          }

          set depth = SinkDepth
        }

        # Once we've sunk, either resume transit or station keeping depths and speeds
        aggregate sinkToTransit {
          run in sequence

          break if ( OnStation )

          assign in sequence DiveMode = TransitToStation
        }

        aggregate sinkToStation {
          run in sequence

          break if ( not OnStation )

          assign in sequence DiveMode = StationKeep
        }
      }
    }

    aggregate TransitToStation {
      run while ( DiveMode == TransitToStation )

      aggregate dive {
        run in sequence

        behavior Guidance:Buoyancy {
          run in parallel

          set position = Control:VerticalControl.buoyancyNeutral
        }

        behavior Guidance:Pitch {
          run in parallel

          set depth = ApproachDepth
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = Speed
        }
      }
    }

    aggregate StationKeep {
      run while ( DiveMode == StationKeep )

      assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband

      behavior Guidance:Pitch {
        run in parallel

        set depth = Depth
      }

      behavior Guidance:KeepStation {
        run in parallel

        set latitude = Latitude
        set longitude = Longitude
        set radius = Radius
        set speed = Speed
      }
    }
  }

  aggregate TransitToStation {
    """
    Need a separate aggregate for transit if we want to specify a
    different depth for the approach.
    """

    run in sequence

    aggregate Dive {
      run while ( not ( DiveMode == DoingComms ) )

      call priorityHere=false refId="DiveCmd"
    }

    behavior Guidance:Waypoint id="Wpt1" {
      run in sequence

      set latitude = Latitude
      set longitude = Longitude
    }

    assign in sequence DiveMode = StationKeep
    assign in sequence OnStation = true
  }

  call id="OnStation" priorityHere=false refId="NeedComms"

  aggregate KeepStation {
    run in sequence

    aggregate Dive {
      run while ( not ( DiveMode == DoingComms ) )

      call priorityHere=false refId="DiveCmd"
    }

    behavior Guidance:Wait {
      """
      Due to the way the KeepStation behavior is currently
      implemented, we must run it in parallel and use a Wait to keep
      from completing the mission before the timeout expires. However,
      this new version of the mission uses a top-level timeout so that
      the entire mission will not run for longer then MissionTimeout.
      """

      run in sequence

      set duration = MissionTimeout
    }
  }
}


2026-03-13T04:52:21.957Z,1773377541.957 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2026-03-13T04:52:30.583Z,1773377550.583 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2026-03-13T04:52:30.587Z,1773377550.587 [Default:CheckIn:C.Wait] Stopped
2026-03-13T04:52:30.587Z,1773377550.587 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2026-03-13T04:52:30.588Z,1773377550.588 [Default:CheckIn:D] Running Loop=1
2026-03-13T04:52:30.995Z,1773377550.995 [Default:CheckIn:D] Stopped
2026-03-13T04:52:30.995Z,1773377550.995 [Default:CheckIn:E] Running Loop=1
2026-03-13T04:52:31.405Z,1773377551.405 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  12.585432 min 
2026-03-13T04:52:31.405Z,1773377551.405 [Default:CheckIn:E] Stopped
2026-03-13T04:52:31.406Z,1773377551.406 [Default:CheckIn](INFO): Completed Default:CheckIn
2026-03-13T04:52:31.406Z,1773377551.406 [Default:CheckIn] Stopped
2026-03-13T04:52:31.406Z,1773377551.406 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2026-03-13T04:52:31.406Z,1773377551.406 [Default:CheckIn](INFO): Running loop #3
2026-03-13T04:52:31.406Z,1773377551.406 [Default:CheckIn] Running Loop=3
2026-03-13T04:52:31.406Z,1773377551.406 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2026-03-13T04:52:31.406Z,1773377551.406 [Default:CheckIn:Read_GPS] Running Loop=1
2026-03-13T04:52:33.177Z,1773377553.177 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 12 hour
2026-03-13T04:52:33.178Z,1773377553.178 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 60 minute
2026-03-13T04:52:33.179Z,1773377553.179 [CommandExec](IMPORTANT): got command set keepstation.Latitude 36.797 degree
2026-03-13T04:52:33.180Z,1773377553.180 [CommandExec](IMPORTANT): got command set keepstation.Longitude -121.847 degree
2026-03-13T04:52:33.181Z,1773377553.181 [CommandExec](IMPORTANT): got command run
2026-03-13T04:52:33.183Z,1773377553.183 [CommandExec](IMPORTANT): Running 
2026-03-13T04:52:33.390Z,1773377553.390 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,045232.00,A,3648.03223,N,12152.47730,W,1.147,345.73,130326,,,A*75
2026-03-13T04:52:33.393Z,1773377553.393 [NAL9602](INFO): GPS fix at 20260313T045232: (36.800537, -121.874622)
2026-03-13T04:52:33.408Z,1773377553.408 [Default] Stopped
2026-03-13T04:52:33.408Z,1773377553.408 [Default](DEBUG): Aggregate::uninitialize Default
2026-03-13T04:52:33.408Z,1773377553.408 [Default:B.GoToSurface] Stopped
2026-03-13T04:52:33.408Z,1773377553.408 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-03-13T04:52:33.408Z,1773377553.408 [Default:CheckIn] Stopped
2026-03-13T04:52:33.408Z,1773377553.408 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2026-03-13T04:52:33.408Z,1773377553.408 [Default:CheckIn:Read_GPS] Stopped
2026-03-13T04:52:33.409Z,1773377553.409 [MissionManager](IMPORTANT): Started mission keepstation
2026-03-13T04:52:33.409Z,1773377553.409 [keepstation] Running Loop=1
2026-03-13T04:52:33.409Z,1773377553.409 [keepstation](DEBUG): Aggregate::initialize keepstation
2026-03-13T04:52:33.409Z,1773377553.409 [keepstation:StandardEnvelopes] Running Loop=1
2026-03-13T04:52:33.409Z,1773377553.409 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2026-03-13T04:52:33.409Z,1773377553.409 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2026-03-13T04:52:33.409Z,1773377553.409 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2026-03-13T04:52:33.410Z,1773377553.410 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2026-03-13T04:52:33.410Z,1773377553.410 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2026-03-13T04:52:33.410Z,1773377553.410 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2026-03-13T04:52:33.410Z,1773377553.410 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2026-03-13T04:52:33.410Z,1773377553.410 [keepstation:BackseatDriver] Running Loop=1
2026-03-13T04:52:33.410Z,1773377553.410 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2026-03-13T04:52:33.410Z,1773377553.410 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2026-03-13T04:52:33.410Z,1773377553.410 [keepstation:PowerOnly] Running Loop=1
2026-03-13T04:52:33.410Z,1773377553.410 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2026-03-13T04:52:33.411Z,1773377553.411 [keepstation:PowerOnly:A] Running Loop=1
2026-03-13T04:52:33.411Z,1773377553.411 [keepstation:PowerOnly:B] Running Loop=1
2026-03-13T04:52:33.411Z,1773377553.411 [keepstation:PowerOnly:C] Running Loop=1
2026-03-13T04:52:33.411Z,1773377553.411 [keepstation:PowerOnly:D] Running Loop=1
2026-03-13T04:52:33.411Z,1773377553.411 [keepstation:PowerOnly:E.Wait] Running Loop=1
2026-03-13T04:52:33.411Z,1773377553.411 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2026-03-13T04:52:33.411Z,1773377553.411 [keepstation:H.Pitch] Running Loop=1
2026-03-13T04:52:33.411Z,1773377553.411 [keepstation:H.Pitch](DEBUG): Initialize.
2026-03-13T04:52:33.412Z,1773377553.412 [keepstation:B] Running Loop=1
2026-03-13T04:52:33.412Z,1773377553.412 [keepstation:H.Pitch] Running Loop=1
2026-03-13T04:52:33.413Z,1773377553.413 [keepstation:PowerOnly] Running Loop=1
2026-03-13T04:52:33.413Z,1773377553.413 [keepstation:PowerOnly:D] Stopped
2026-03-13T04:52:33.413Z,1773377553.413 [keepstation:PowerOnly:C] Stopped
2026-03-13T04:52:33.413Z,1773377553.413 [keepstation:PowerOnly:B] Stopped
2026-03-13T04:52:33.413Z,1773377553.413 [keepstation:PowerOnly:A] Stopped
2026-03-13T04:52:33.413Z,1773377553.413 [keepstation:BackseatDriver] Running Loop=1
2026-03-13T04:52:33.414Z,1773377553.414 [keepstation:StandardEnvelopes] Running Loop=1
2026-03-13T04:52:33.414Z,1773377553.414 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2026-03-13T04:52:33.414Z,1773377553.414 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2026-03-13T04:52:33.431Z,1773377553.431 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2026-03-13T04:52:33.432Z,1773377553.432 [keepstation:B] Stopped
2026-03-13T04:52:33.432Z,1773377553.432 [keepstation:D] Running Loop=1
2026-03-13T04:52:33.829Z,1773377553.829 [keepstation:D] Stopped
2026-03-13T04:52:33.829Z,1773377553.829 [keepstation:E] Running Loop=1
2026-03-13T04:52:34.225Z,1773377554.225 [keepstation:E] Stopped
2026-03-13T04:52:34.225Z,1773377554.225 [keepstation:StartingMission] Running Loop=1
2026-03-13T04:52:34.225Z,1773377554.225 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2026-03-13T04:52:34.622Z,1773377554.622 [keepstation:SurfaceComms] Running Loop=1
2026-03-13T04:52:34.623Z,1773377554.623 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms
2026-03-13T04:52:34.639Z,1773377554.639 [keepstation:SurfaceComms:A] Running Loop=1
2026-03-13T04:52:34.640Z,1773377554.640 [keepstation:SurfaceComms:A] Stopped
2026-03-13T04:52:34.640Z,1773377554.640 [keepstation:SurfaceComms:B] Running Loop=1
2026-03-13T04:52:34.640Z,1773377554.640 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B
2026-03-13T04:52:35.033Z,1773377555.033 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2026-03-13T04:52:35.034Z,1773377555.034 [keepstation:NeedComms] Running Loop=1
2026-03-13T04:52:35.034Z,1773377555.034 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2026-03-13T04:52:35.034Z,1773377555.034 [keepstation:NeedComms:C.GoToSurface] Running Loop=1
2026-03-13T04:52:35.034Z,1773377555.034 [keepstation:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-03-13T04:52:35.034Z,1773377555.034 [keepstation:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2026-03-13T04:52:35.035Z,1773377555.035 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2026-03-13T04:52:35.035Z,1773377555.035 [keepstation:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2026-03-13T04:52:35.035Z,1773377555.035 [keepstation:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2026-03-13T04:52:35.036Z,1773377555.036 [keepstation:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-03-13T04:52:35.036Z,1773377555.036 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-03-13T04:52:35.036Z,1773377555.036 [keepstation:NeedComms:A] Running Loop=1
2026-03-13T04:52:35.037Z,1773377555.037 [keepstation:NeedComms:A](INFO): last time_fix was:  1773377552.000000 second since 1970/01/01T00:00:00Z 
2026-03-13T04:52:35.038Z,1773377555.038 [keepstation:NeedComms:A] Stopped
2026-03-13T04:52:35.038Z,1773377555.038 [keepstation:NeedComms:setActive] Running Loop=1
2026-03-13T04:52:35.038Z,1773377555.038 [keepstation:NeedComms:setActive](DEBUG): Aggregate::initialize keepstation:NeedComms:setActive
2026-03-13T04:52:35.038Z,1773377555.038 [keepstation:NeedComms:setActive:A] Running Loop=1
2026-03-13T04:52:35.422Z,1773377555.422 [keepstation:NeedComms:setActive:A] Stopped
2026-03-13T04:52:35.422Z,1773377555.422 [keepstation:NeedComms:setActive:B] Running Loop=1
2026-03-13T04:52:35.836Z,1773377555.836 [keepstation:NeedComms:setActive:B] Stopped
2026-03-13T04:52:35.836Z,1773377555.836 [keepstation:NeedComms:setActive](INFO): Completed keepstation:NeedComms:setActive
2026-03-13T04:52:35.836Z,1773377555.836 [keepstation:NeedComms:setActive] Stopped
2026-03-13T04:52:35.836Z,1773377555.836 [keepstation:NeedComms:setActive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setActive
2026-03-13T04:52:36.233Z,1773377556.233 [keepstation:NeedComms:D] Running Loop=1
2026-03-13T04:52:36.633Z,1773377556.633 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense time_fix
2026-03-13T04:53:04.922Z,1773377584.922 [NAL9602](INFO): SBD MO Status=2, MOMSN=32749, MT Status=2, MTMSN=0
2026-03-13T04:53:04.922Z,1773377584.922 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T04:53:19.465Z,1773377599.465 [NAL9602](INFO): SBD MO Status=1, MOMSN=32749, MT Status=0, MTMSN=0
2026-03-13T04:53:19.465Z,1773377599.465 [NAL9602](INFO): No messages in MT queue
2026-03-13T04:53:20.682Z,1773377600.682 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,045319.00,A,3648.03587,N,12152.47700,W,0.719,339.50,130326,,,A*71
2026-03-13T04:53:20.697Z,1773377600.697 [NAL9602](INFO): GPS fix at 20260313T045319: (36.800598, -121.874617)
2026-03-13T04:53:20.710Z,1773377600.710 [keepstation:NeedComms:D] Stopped
2026-03-13T04:53:20.710Z,1773377600.710 [keepstation:NeedComms:E] Running Loop=1
2026-03-13T04:53:21.126Z,1773377601.126 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense platform_communications
2026-03-13T04:53:28.083Z,1773377608.083 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20260313T044322/Courier0005.lzma
2026-03-13T04:53:29.085Z,1773377609.085 [DataOverHttps](INFO): Moved sent file to Logs/20260313T044322/Courier0005.lzma.bak
2026-03-13T04:53:29.085Z,1773377609.085 [DataOverHttps](INFO): SBD MOMSN=26729744
2026-03-13T04:53:47.992Z,1773377627.992 [DataOverHttps](INFO): Sending 460 bytes from file Logs/20260313T044322/Express0007.lzma
2026-03-13T04:53:48.993Z,1773377628.993 [DataOverHttps](INFO): Moved sent file to Logs/20260313T044322/Express0007.lzma.bak
2026-03-13T04:53:48.993Z,1773377628.993 [DataOverHttps](INFO): SBD MOMSN=26729748
2026-03-13T04:53:53.412Z,1773377633.412 [NAL9602](INFO): Not Powering down - fast GPS
2026-03-13T04:54:04.995Z,1773377644.995 [DataOverHttps](INFO): Sending 63 bytes from file Logs/20260313T044322/Express0010.lzma
2026-03-13T04:54:05.997Z,1773377645.997 [DataOverHttps](INFO): Moved sent file to Logs/20260313T044322/Express0010.lzma.bak
2026-03-13T04:54:05.997Z,1773377645.997 [DataOverHttps](INFO): SBD MOMSN=26729763
2026-03-13T04:54:07.560Z,1773377647.560 [keepstation:NeedComms:E] Stopped
2026-03-13T04:54:07.561Z,1773377647.561 [keepstation:NeedComms:F] Running Loop=1
2026-03-13T04:54:07.967Z,1773377647.967 [keepstation:NeedComms:F](DEBUG): Initialize ReadDataComponent to sense time_fix
2026-03-13T04:54:09.566Z,1773377649.566 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,045408.00,A,3648.04017,N,12152.47760,W,0.700,25.16,130326,,,A*4F
2026-03-13T04:54:09.578Z,1773377649.578 [NAL9602](INFO): GPS fix at 20260313T045408: (36.800669, -121.874627)
2026-03-13T04:54:09.602Z,1773377649.602 [keepstation:NeedComms:F] Stopped
2026-03-13T04:54:09.602Z,1773377649.602 [keepstation:NeedComms:setRestoreMode] Running Loop=1
2026-03-13T04:54:09.602Z,1773377649.602 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::initialize keepstation:NeedComms:setRestoreMode
2026-03-13T04:54:09.602Z,1773377649.602 [keepstation:NeedComms:setRestoreMode:A] Running Loop=1
2026-03-13T04:54:10.012Z,1773377650.012 [keepstation:NeedComms:setRestoreMode:A] Stopped
2026-03-13T04:54:10.013Z,1773377650.013 [keepstation:NeedComms:setRestoreMode](INFO): Completed keepstation:NeedComms:setRestoreMode
2026-03-13T04:54:10.013Z,1773377650.013 [keepstation:NeedComms:setRestoreMode] Stopped
2026-03-13T04:54:10.013Z,1773377650.013 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setRestoreMode
2026-03-13T04:54:10.013Z,1773377650.013 [keepstation:NeedComms:setInactive] Running Loop=1
2026-03-13T04:54:10.013Z,1773377650.013 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::initialize keepstation:NeedComms:setInactive
2026-03-13T04:54:10.013Z,1773377650.013 [keepstation:NeedComms:setInactive:A] Running Loop=1
2026-03-13T04:54:10.398Z,1773377650.398 [keepstation:NeedComms:setInactive:A] Stopped
2026-03-13T04:54:10.398Z,1773377650.398 [keepstation:NeedComms:setInactive](INFO): Completed keepstation:NeedComms:setInactive
2026-03-13T04:54:10.398Z,1773377650.398 [keepstation:NeedComms:setInactive] Stopped
2026-03-13T04:54:10.398Z,1773377650.398 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setInactive
2026-03-13T04:54:10.399Z,1773377650.399 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2026-03-13T04:54:10.427Z,1773377650.427 [keepstation:NeedComms] Stopped
2026-03-13T04:54:10.427Z,1773377650.427 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2026-03-13T04:54:10.428Z,1773377650.428 [keepstation:NeedComms:C.GoToSurface] Stopped
2026-03-13T04:54:10.428Z,1773377650.428 [keepstation:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-03-13T04:54:10.816Z,1773377650.816 [keepstation:SurfaceComms:B](INFO): Completed keepstation:SurfaceComms:B
2026-03-13T04:54:10.816Z,1773377650.816 [keepstation:SurfaceComms:B] Stopped
2026-03-13T04:54:10.816Z,1773377650.816 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B
2026-03-13T04:54:10.816Z,1773377650.816 [keepstation:SurfaceComms:HandleNan] Running Loop=1
2026-03-13T04:54:10.816Z,1773377650.816 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan
2026-03-13T04:54:10.816Z,1773377650.816 [keepstation:SurfaceComms:HandleNan:SetOnStation] Running Loop=1
2026-03-13T04:54:10.816Z,1773377650.816 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan:SetOnStation
2026-03-13T04:54:10.817Z,1773377650.817 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Running Loop=1
2026-03-13T04:54:11.216Z,1773377651.216 [keepstation:SurfaceComms:HandleNan] Stopped
2026-03-13T04:54:11.216Z,1773377651.216 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan
2026-03-13T04:54:11.216Z,1773377651.216 [keepstation:SurfaceComms:HandleNan:SetOnStation] Stopped
2026-03-13T04:54:11.216Z,1773377651.216 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan:SetOnStation
2026-03-13T04:54:11.216Z,1773377651.216 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Stopped
2026-03-13T04:54:11.216Z,1773377651.216 [keepstation:SurfaceComms:setTransit] Running Loop=1
2026-03-13T04:54:11.217Z,1773377651.217 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setTransit
2026-03-13T04:54:11.217Z,1773377651.217 [keepstation:SurfaceComms:setTransit:A] Running Loop=1
2026-03-13T04:54:11.628Z,1773377651.628 [keepstation:SurfaceComms:setTransit:A] Stopped
2026-03-13T04:54:11.628Z,1773377651.628 [keepstation:SurfaceComms:setTransit](INFO): Completed keepstation:SurfaceComms:setTransit
2026-03-13T04:54:11.629Z,1773377651.629 [keepstation:SurfaceComms:setTransit] Stopped
2026-03-13T04:54:11.629Z,1773377651.629 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setTransit
2026-03-13T04:54:11.629Z,1773377651.629 [keepstation:SurfaceComms:setStation] Running Loop=1
2026-03-13T04:54:11.629Z,1773377651.629 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setStation
2026-03-13T04:54:11.629Z,1773377651.629 [keepstation:SurfaceComms:setStation:A] Running Loop=1
2026-03-13T04:54:12.009Z,1773377652.009 [keepstation:SurfaceComms:setStation] Stopped
2026-03-13T04:54:12.009Z,1773377652.009 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setStation
2026-03-13T04:54:12.009Z,1773377652.009 [keepstation:SurfaceComms:setStation:A] Stopped
2026-03-13T04:54:12.009Z,1773377652.009 [keepstation:SurfaceComms:setSink] Running Loop=1
2026-03-13T04:54:12.009Z,1773377652.009 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setSink
2026-03-13T04:54:12.009Z,1773377652.009 [keepstation:SurfaceComms:setSink:A] Running Loop=1
2026-03-13T04:54:12.413Z,1773377652.413 [keepstation:SurfaceComms:setSink] Stopped
2026-03-13T04:54:12.413Z,1773377652.413 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setSink
2026-03-13T04:54:12.413Z,1773377652.413 [keepstation:SurfaceComms:setSink:A] Stopped
2026-03-13T04:54:12.413Z,1773377652.413 [keepstation:SurfaceComms](INFO): Completed keepstation:SurfaceComms
2026-03-13T04:54:12.413Z,1773377652.413 [keepstation:SurfaceComms] Stopped
2026-03-13T04:54:12.413Z,1773377652.413 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms
2026-03-13T04:54:12.818Z,1773377652.818 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2026-03-13T04:54:12.818Z,1773377652.818 [keepstation:StartingMission] Stopped
2026-03-13T04:54:12.818Z,1773377652.818 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2026-03-13T04:54:12.818Z,1773377652.818 [keepstation:TransitToStation] Running Loop=1
2026-03-13T04:54:12.818Z,1773377652.818 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2026-03-13T04:54:12.818Z,1773377652.818 [keepstation:TransitToStation:Dive] Running Loop=1
2026-03-13T04:54:12.818Z,1773377652.818 [keepstation:TransitToStation:Dive](DEBUG): Aggregate::initialize keepstation:TransitToStation:Dive
2026-03-13T04:54:12.819Z,1773377652.819 [keepstation:TransitToStation:Dive:A] Running Loop=1
2026-03-13T04:54:12.819Z,1773377652.819 [keepstation:TransitToStation:Dive:A](DEBUG): Aggregate::initialize keepstation:TransitToStation:Dive:A
2026-03-13T04:54:12.819Z,1773377652.819 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2026-03-13T04:54:12.819Z,1773377652.819 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2026-03-13T04:54:12.821Z,1773377652.821 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2026-03-13T04:54:13.212Z,1773377653.212 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2026-03-13T04:54:13.213Z,1773377653.213 [keepstation:TransitToStation:Dive] Running Loop=1
2026-03-13T04:54:13.213Z,1773377653.213 [keepstation:DiveCmd] Running Loop=1
2026-03-13T04:54:13.213Z,1773377653.213 [keepstation:DiveCmd](DEBUG): Aggregate::initialize keepstation:DiveCmd
2026-03-13T04:54:13.213Z,1773377653.213 [keepstation:DiveCmd:SurfaceSink] Running Loop=1
2026-03-13T04:54:13.213Z,1773377653.213 [keepstation:DiveCmd:SurfaceSink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink
2026-03-13T04:54:13.213Z,1773377653.213 [keepstation:DiveCmd:SurfaceSink:sink] Running Loop=1
2026-03-13T04:54:13.213Z,1773377653.213 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink:sink
2026-03-13T04:54:13.214Z,1773377653.214 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2026-03-13T04:54:13.214Z,1773377653.214 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-03-13T04:54:13.214Z,1773377653.214 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2026-03-13T04:54:13.214Z,1773377653.214 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2026-03-13T04:54:13.214Z,1773377653.214 [keepstation:DiveCmd:SurfaceSink:sink:C] Running Loop=1
2026-03-13T04:54:13.214Z,1773377653.214 [keepstation:DiveCmd:TransitToStation] Running Loop=1
2026-03-13T04:54:13.214Z,1773377653.214 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation
2026-03-13T04:54:13.214Z,1773377653.214 [keepstation:DiveCmd:TransitToStation:dive] Running Loop=1
2026-03-13T04:54:13.214Z,1773377653.214 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation:dive
2026-03-13T04:54:13.215Z,1773377653.215 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Running Loop=1
2026-03-13T04:54:13.215Z,1773377653.215 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-03-13T04:54:13.215Z,1773377653.215 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Running Loop=1
2026-03-13T04:54:13.215Z,1773377653.215 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Initialize.
2026-03-13T04:54:13.215Z,1773377653.215 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Running Loop=1
2026-03-13T04:54:13.215Z,1773377653.215 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Initialize.
2026-03-13T04:54:13.215Z,1773377653.215 [keepstation:DiveCmd:StationKeep] Running Loop=1
2026-03-13T04:54:13.215Z,1773377653.215 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::initialize keepstation:DiveCmd:StationKeep
2026-03-13T04:54:13.216Z,1773377653.216 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2026-03-13T04:54:13.216Z,1773377653.216 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2026-03-13T04:54:13.216Z,1773377653.216 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Initialize.
2026-03-13T04:54:13.216Z,1773377653.216 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2026-03-13T04:54:13.216Z,1773377653.216 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2026-03-13T04:54:13.217Z,1773377653.217 [keepstation:DiveCmd:StationKeep] Stopped
2026-03-13T04:54:13.217Z,1773377653.217 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:StationKeep
2026-03-13T04:54:13.217Z,1773377653.217 [keepstation:DiveCmd:StationKeep:A] Stopped
2026-03-13T04:54:13.217Z,1773377653.217 [keepstation:DiveCmd:StationKeep:B.Pitch] Stopped
2026-03-13T04:54:13.217Z,1773377653.217 [keepstation:DiveCmd:StationKeep:C.KeepStation] Stopped
2026-03-13T04:54:13.217Z,1773377653.217 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2026-03-13T04:54:13.217Z,1773377653.217 [keepstation:DiveCmd:TransitToStation] Running Loop=1
2026-03-13T04:54:13.217Z,1773377653.217 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Running Loop=1
2026-03-13T04:54:13.217Z,1773377653.217 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Running Loop=1
2026-03-13T04:54:13.218Z,1773377653.218 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Running Loop=1
2026-03-13T04:54:13.218Z,1773377653.218 [keepstation:DiveCmd:SurfaceSink] Stopped
2026-03-13T04:54:13.218Z,1773377653.218 [keepstation:DiveCmd:SurfaceSink](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink
2026-03-13T04:54:13.218Z,1773377653.218 [keepstation:DiveCmd:SurfaceSink:sink] Stopped
2026-03-13T04:54:13.218Z,1773377653.218 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink:sink
2026-03-13T04:54:13.219Z,1773377653.219 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2026-03-13T04:54:13.219Z,1773377653.219 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-03-13T04:54:13.219Z,1773377653.219 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Stopped
2026-03-13T04:54:13.219Z,1773377653.219 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2026-03-13T04:54:13.219Z,1773377653.219 [keepstation:DiveCmd:SurfaceSink:sink:C] Stopped
2026-03-13T04:54:13.251Z,1773377653.251 [HorizontalControl](DEBUG): kpHeading = 0.400000
2026-03-13T04:54:13.252Z,1773377653.252 [HorizontalControl](DEBUG): kiHeading = 0.001000
2026-03-13T04:54:13.252Z,1773377653.252 [HorizontalControl](DEBUG): kdHeading = 0.050000
2026-03-13T04:54:33.446Z,1773377673.446 [NAL9602](INFO): SBD MO Status=2, MOMSN=32750, MT Status=2, MTMSN=0
2026-03-13T04:54:33.446Z,1773377673.446 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T04:54:45.158Z,1773377685.158 [NAL9602](INFO): SBD MO Status=1, MOMSN=32750, MT Status=0, MTMSN=0
2026-03-13T04:54:45.158Z,1773377685.158 [NAL9602](INFO): No messages in MT queue
2026-03-13T04:55:15.860Z,1773377715.860 [NAL9602](INFO): Not Powering down - fast GPS
2026-03-13T04:55:37.956Z,1773377737.956 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T04:56:09.080Z,1773377769.080 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T04:56:12.928Z,1773377772.928 [Radio_Surface](INFO): Powering down
2026-03-13T04:56:13.332Z,1773377773.332 [Radio_Surface](FAULT): LCB fault: LCB Watchdog Reset.
2026-03-13T04:56:13.332Z,1773377773.332 [Radio_Surface] Hardware Fault, FailCount= 1
2026-03-13T04:56:13.332Z,1773377773.332 [Radio_Surface](ERROR): Hardware Fault
2026-03-13T04:56:13.491Z,1773377773.491 [CBIT](ERROR): Hardware Fault in component: Radio_Surface
2026-03-13T04:56:13.775Z,1773377773.775 [CBIT](INFO): Clearing failed state for component Radio_Surface
2026-03-13T04:56:13.775Z,1773377773.775 [Radio_Surface] No Fault, FailCount= 1
2026-03-13T04:56:14.139Z,1773377774.139 [Radio_Surface](INFO): Powering up
2026-03-13T04:56:20.202Z,1773377780.202 [Radio_Surface](INFO): Powering down
2026-03-13T04:56:40.212Z,1773377800.212 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T04:56:41.216Z,1773377801.216 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2026-03-13T04:57:46.476Z,1773377866.476 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.725769
2026-03-13T05:52:47.283Z,1773381167.283 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).
2026-03-13T05:54:09.712Z,1773381249.712 [keepstation:SurfaceComms] Running Loop=1
2026-03-13T05:54:09.712Z,1773381249.712 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms
2026-03-13T05:54:09.712Z,1773381249.712 [keepstation:SurfaceComms:A] Running Loop=1
2026-03-13T05:54:09.713Z,1773381249.713 [keepstation:SurfaceComms:A] Stopped
2026-03-13T05:54:09.713Z,1773381249.713 [keepstation:SurfaceComms:B] Running Loop=1
2026-03-13T05:54:09.713Z,1773381249.713 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B
2026-03-13T05:54:10.127Z,1773381250.127 [keepstation:TransitToStation:Dive] Stopped
2026-03-13T05:54:10.128Z,1773381250.128 [keepstation:TransitToStation:Dive](DEBUG): Aggregate::uninitialize keepstation:TransitToStation:Dive
2026-03-13T05:54:10.128Z,1773381250.128 [keepstation:TransitToStation:Dive:A] Stopped
2026-03-13T05:54:10.128Z,1773381250.128 [keepstation:TransitToStation:Dive:A](DEBUG): Aggregate::uninitialize keepstation:TransitToStation:Dive:A
2026-03-13T05:54:10.128Z,1773381250.128 [keepstation:DiveCmd:TransitToStation] Stopped
2026-03-13T05:54:10.128Z,1773381250.128 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation
2026-03-13T05:54:10.128Z,1773381250.128 [keepstation:DiveCmd:TransitToStation:dive] Stopped
2026-03-13T05:54:10.128Z,1773381250.128 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation:dive
2026-03-13T05:54:10.128Z,1773381250.128 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Stopped
2026-03-13T05:54:10.129Z,1773381250.129 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-03-13T05:54:10.129Z,1773381250.129 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Stopped
2026-03-13T05:54:10.129Z,1773381250.129 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Stopped
2026-03-13T05:54:10.129Z,1773381250.129 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Uninitialize.
2026-03-13T05:54:10.130Z,1773381250.130 [keepstation:NeedComms] Running Loop=1
2026-03-13T05:54:10.130Z,1773381250.130 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2026-03-13T05:54:10.131Z,1773381250.131 [keepstation:NeedComms:C.GoToSurface] Running Loop=1
2026-03-13T05:54:10.131Z,1773381250.131 [keepstation:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-03-13T05:54:10.131Z,1773381250.131 [keepstation:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2026-03-13T05:54:10.132Z,1773381250.132 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2026-03-13T05:54:10.132Z,1773381250.132 [keepstation:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2026-03-13T05:54:10.132Z,1773381250.132 [keepstation:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2026-03-13T05:54:10.133Z,1773381250.133 [keepstation:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-03-13T05:54:10.133Z,1773381250.133 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-03-13T05:54:10.133Z,1773381250.133 [keepstation:NeedComms:A] Running Loop=1
2026-03-13T05:54:10.135Z,1773381250.135 [keepstation:NeedComms:A](INFO): last time_fix was:  1773377648.000000 second since 1970/01/01T00:00:00Z 
2026-03-13T05:54:10.139Z,1773381250.139 [keepstation:NeedComms:A] Stopped
2026-03-13T05:54:10.139Z,1773381250.139 [keepstation:NeedComms:setActive] Running Loop=1
2026-03-13T05:54:10.140Z,1773381250.140 [keepstation:NeedComms:setActive](DEBUG): Aggregate::initialize keepstation:NeedComms:setActive
2026-03-13T05:54:10.140Z,1773381250.140 [keepstation:NeedComms:setActive:A] Running Loop=1
2026-03-13T05:54:10.523Z,1773381250.523 [keepstation:NeedComms:setActive:A] Stopped
2026-03-13T05:54:10.523Z,1773381250.523 [keepstation:NeedComms:setActive:B] Running Loop=1
2026-03-13T05:54:10.974Z,1773381250.974 [keepstation:NeedComms:setActive:B] Stopped
2026-03-13T05:54:10.974Z,1773381250.974 [keepstation:NeedComms:setActive](INFO): Completed keepstation:NeedComms:setActive
2026-03-13T05:54:10.974Z,1773381250.974 [keepstation:NeedComms:setActive] Stopped
2026-03-13T05:54:10.974Z,1773381250.974 [keepstation:NeedComms:setActive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setActive
2026-03-13T05:55:12.642Z,1773381312.642 [keepstation:NeedComms:D] Running Loop=1
2026-03-13T05:55:13.271Z,1773381313.271 [Radio_Surface](INFO): Powering up
2026-03-13T05:55:18.644Z,1773381318.644 [DataOverHttps](INFO): Radio surface powered ON.
2026-03-13T05:55:34.437Z,1773381334.437 [NAL9602](INFO): SBD MO Status=1, MOMSN=32751, MT Status=0, MTMSN=0
2026-03-13T05:55:34.437Z,1773381334.437 [NAL9602](INFO): No messages in MT queue
2026-03-13T05:55:35.652Z,1773381335.652 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,055534.00,A,3648.27346,N,12150.81231,W,0.544,85.52,130326,,,A*47
2026-03-13T05:55:35.654Z,1773381335.654 [NAL9602](INFO): GPS fix at 20260313T055534: (36.804558, -121.846872)
2026-03-13T05:55:35.668Z,1773381335.668 [UniversalFixResidualReporter](INFO): Fix residual: 39.8 %DT, over the last 2169.9 m. Residual distance 862.9 m at bearing -154.9 degrees. Fix at (36.8046, -121.8469) with 2508.7 m made good.
2026-03-13T05:55:35.669Z,1773381335.669 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2026-03-13T05:55:35.672Z,1773381335.672 [keepstation:NeedComms:D] Stopped
2026-03-13T05:55:35.672Z,1773381335.672 [keepstation:NeedComms:E] Running Loop=1
2026-03-13T05:55:48.784Z,1773381348.784 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T05:55:54.879Z,1773381354.879 [NAL9602](INFO): SBD MO Status=1, MOMSN=32752, MT Status=0, MTMSN=0
2026-03-13T05:55:54.928Z,1773381354.928 [NAL9602](INFO): Sent 206 bytes from file Logs/20260313T044322/Courier0012.lzma
2026-03-13T05:55:54.928Z,1773381354.928 [NAL9602](INFO): Packets left to send: 0
2026-03-13T05:56:15.574Z,1773381375.574 [NAL9602](INFO): SBD MO Status=1, MOMSN=32753, MT Status=0, MTMSN=0
2026-03-13T05:56:15.628Z,1773381375.628 [NAL9602](INFO): Sent 332 bytes from file Logs/20260313T044322/Express0013.lzma
2026-03-13T05:56:15.628Z,1773381375.628 [NAL9602](INFO): Packets left to send: 1
2026-03-13T05:56:19.912Z,1773381379.912 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T05:56:23.733Z,1773381383.733 [NAL9602](INFO): SBD MO Status=1, MOMSN=32754, MT Status=0, MTMSN=0
2026-03-13T05:56:23.784Z,1773381383.784 [NAL9602](INFO): Sent 158 bytes from file Logs/20260313T044322/Express0013.lzma
2026-03-13T05:56:23.784Z,1773381383.784 [NAL9602](INFO): Packets left to send: 0
2026-03-13T05:56:31.006Z,1773381391.006 [NAL9602](INFO): SBD MO Status=0, MOMSN=32755, MT Status=0, MTMSN=0
2026-03-13T05:56:31.104Z,1773381391.104 [keepstation:NeedComms:E] Stopped
2026-03-13T05:56:31.105Z,1773381391.105 [keepstation:NeedComms:F] Running Loop=1
2026-03-13T05:56:33.434Z,1773381393.434 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,055632.00,A,3648.28047,N,12150.80760,W,0.622,351.64,130326,,,A*73
2026-03-13T05:56:33.437Z,1773381393.437 [NAL9602](INFO): GPS fix at 20260313T055632: (36.804674, -121.846793)
2026-03-13T05:56:33.465Z,1773381393.465 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2026-03-13T05:56:33.468Z,1773381393.468 [keepstation:NeedComms:F] Stopped
2026-03-13T05:56:33.468Z,1773381393.468 [keepstation:NeedComms:setRestoreMode] Running Loop=1
2026-03-13T05:56:33.468Z,1773381393.468 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::initialize keepstation:NeedComms:setRestoreMode
2026-03-13T05:56:33.468Z,1773381393.468 [keepstation:NeedComms:setRestoreMode:A] Running Loop=1
2026-03-13T05:56:33.875Z,1773381393.875 [keepstation:NeedComms:setRestoreMode:A] Stopped
2026-03-13T05:56:33.875Z,1773381393.875 [keepstation:NeedComms:setRestoreMode](INFO): Completed keepstation:NeedComms:setRestoreMode
2026-03-13T05:56:33.875Z,1773381393.875 [keepstation:NeedComms:setRestoreMode] Stopped
2026-03-13T05:56:33.875Z,1773381393.875 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setRestoreMode
2026-03-13T05:56:33.875Z,1773381393.875 [keepstation:NeedComms:setInactive] Running Loop=1
2026-03-13T05:56:33.875Z,1773381393.875 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::initialize keepstation:NeedComms:setInactive
2026-03-13T05:56:33.875Z,1773381393.875 [keepstation:NeedComms:setInactive:A] Running Loop=1
2026-03-13T05:56:34.250Z,1773381394.250 [keepstation:NeedComms:setInactive:A] Stopped
2026-03-13T05:56:34.250Z,1773381394.250 [keepstation:NeedComms:setInactive](INFO): Completed keepstation:NeedComms:setInactive
2026-03-13T05:56:34.251Z,1773381394.251 [keepstation:NeedComms:setInactive] Stopped
2026-03-13T05:56:34.251Z,1773381394.251 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setInactive
2026-03-13T05:56:34.252Z,1773381394.252 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2026-03-13T05:56:34.252Z,1773381394.252 [keepstation:NeedComms] Stopped
2026-03-13T05:56:34.252Z,1773381394.252 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2026-03-13T05:56:34.252Z,1773381394.252 [keepstation:NeedComms:C.GoToSurface] Stopped
2026-03-13T05:56:34.252Z,1773381394.252 [keepstation:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-03-13T05:56:34.664Z,1773381394.664 [keepstation:SurfaceComms:B](INFO): Completed keepstation:SurfaceComms:B
2026-03-13T05:56:34.665Z,1773381394.665 [keepstation:SurfaceComms:B] Stopped
2026-03-13T05:56:34.665Z,1773381394.665 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B
2026-03-13T05:56:34.665Z,1773381394.665 [keepstation:SurfaceComms:HandleNan] Running Loop=1
2026-03-13T05:56:34.665Z,1773381394.665 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan
2026-03-13T05:56:34.665Z,1773381394.665 [keepstation:SurfaceComms:HandleNan:SetOnStation] Running Loop=1
2026-03-13T05:56:34.665Z,1773381394.665 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan:SetOnStation
2026-03-13T05:56:34.665Z,1773381394.665 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Running Loop=1
2026-03-13T05:56:35.071Z,1773381395.071 [keepstation:SurfaceComms:HandleNan] Stopped
2026-03-13T05:56:35.071Z,1773381395.071 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan
2026-03-13T05:56:35.071Z,1773381395.071 [keepstation:SurfaceComms:HandleNan:SetOnStation] Stopped
2026-03-13T05:56:35.071Z,1773381395.071 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan:SetOnStation
2026-03-13T05:56:35.071Z,1773381395.071 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Stopped
2026-03-13T05:56:35.072Z,1773381395.072 [keepstation:SurfaceComms:setTransit] Running Loop=1
2026-03-13T05:56:35.072Z,1773381395.072 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setTransit
2026-03-13T05:56:35.072Z,1773381395.072 [keepstation:SurfaceComms:setTransit:A] Running Loop=1
2026-03-13T05:56:35.466Z,1773381395.466 [keepstation:SurfaceComms:setTransit:A] Stopped
2026-03-13T05:56:35.466Z,1773381395.466 [keepstation:SurfaceComms:setTransit](INFO): Completed keepstation:SurfaceComms:setTransit
2026-03-13T05:56:35.466Z,1773381395.466 [keepstation:SurfaceComms:setTransit] Stopped
2026-03-13T05:56:35.466Z,1773381395.466 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setTransit
2026-03-13T05:56:35.467Z,1773381395.467 [keepstation:SurfaceComms:setStation] Running Loop=1
2026-03-13T05:56:35.467Z,1773381395.467 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setStation
2026-03-13T05:56:35.467Z,1773381395.467 [keepstation:SurfaceComms:setStation:A] Running Loop=1
2026-03-13T05:56:35.872Z,1773381395.872 [keepstation:TransitToStation:Dive] Running Loop=1
2026-03-13T05:56:35.872Z,1773381395.872 [keepstation:TransitToStation:Dive](DEBUG): Aggregate::initialize keepstation:TransitToStation:Dive
2026-03-13T05:56:35.872Z,1773381395.872 [keepstation:TransitToStation:Dive:A] Running Loop=1
2026-03-13T05:56:35.872Z,1773381395.872 [keepstation:TransitToStation:Dive:A](DEBUG): Aggregate::initialize keepstation:TransitToStation:Dive:A
2026-03-13T05:56:35.873Z,1773381395.873 [keepstation:DiveCmd:TransitToStation] Running Loop=1
2026-03-13T05:56:35.873Z,1773381395.873 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation
2026-03-13T05:56:35.873Z,1773381395.873 [keepstation:DiveCmd:TransitToStation:dive] Running Loop=1
2026-03-13T05:56:35.873Z,1773381395.873 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation:dive
2026-03-13T05:56:35.873Z,1773381395.873 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Running Loop=1
2026-03-13T05:56:35.873Z,1773381395.873 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-03-13T05:56:35.873Z,1773381395.873 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Running Loop=1
2026-03-13T05:56:35.873Z,1773381395.873 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Initialize.
2026-03-13T05:56:35.874Z,1773381395.874 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Running Loop=1
2026-03-13T05:56:35.874Z,1773381395.874 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Initialize.
2026-03-13T05:56:35.875Z,1773381395.875 [keepstation:SurfaceComms:setStation] Stopped
2026-03-13T05:56:35.875Z,1773381395.875 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setStation
2026-03-13T05:56:35.875Z,1773381395.875 [keepstation:SurfaceComms:setStation:A] Stopped
2026-03-13T05:56:35.875Z,1773381395.875 [keepstation:SurfaceComms:setSink] Running Loop=1
2026-03-13T05:56:35.875Z,1773381395.875 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setSink
2026-03-13T05:56:35.875Z,1773381395.875 [keepstation:SurfaceComms:setSink:A] Running Loop=1
2026-03-13T05:56:36.274Z,1773381396.274 [keepstation:SurfaceComms:setSink] Stopped
2026-03-13T05:56:36.274Z,1773381396.274 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setSink
2026-03-13T05:56:36.274Z,1773381396.274 [keepstation:SurfaceComms:setSink:A] Stopped
2026-03-13T05:56:36.274Z,1773381396.274 [keepstation:SurfaceComms](INFO): Completed keepstation:SurfaceComms
2026-03-13T05:56:36.274Z,1773381396.274 [keepstation:SurfaceComms] Stopped
2026-03-13T05:56:36.274Z,1773381396.274 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms
2026-03-13T05:56:51.037Z,1773381411.037 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T05:57:05.410Z,1773381425.410 [NAL9602](INFO): Not Powering down - fast GPS
2026-03-13T05:57:20.299Z,1773381440.299 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.75 m/s, pitch 20.00 deg, mass-position -2.43 mm (1 active estimators).
2026-03-13T05:57:22.160Z,1773381442.160 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T05:57:53.296Z,1773381473.296 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T05:58:20.767Z,1773381500.767 [Radio_Surface](INFO): Powering down
2026-03-13T05:58:24.420Z,1773381504.420 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T05:58:25.424Z,1773381505.424 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2026-03-13T06:14:23.336Z,1773382463.336 [BPC1](ERROR): Battery stick #17 (s/n: 0084) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2026-03-13T06:14:23.337Z,1773382463.337 [BPC1](ERROR): Battery stick #24 (s/n: 01D3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T06:14:23.338Z,1773382463.338 [BPC1](ERROR): Battery stick #29 (s/n: 00A7) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2026-03-13T06:14:23.338Z,1773382463.338 [BPC1](ERROR): Battery stick #30 (s/n: 015F) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T06:14:23.340Z,1773382463.340 [BPC1](ERROR): Battery stick #37 (s/n: 0181) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T06:14:23.341Z,1773382463.341 [BPC1](ERROR): Battery stick #38 (s/n: 01BC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T06:14:23.341Z,1773382463.341 [BPC1](ERROR): Battery stick #39 (s/n: 0189) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T06:14:23.342Z,1773382463.342 [BPC1](ERROR): Battery stick #40 (s/n: 01A4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T06:14:23.343Z,1773382463.343 [BPC1](ERROR): Battery stick #44 (s/n: 01BB) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T06:14:23.344Z,1773382463.344 [BPC1](ERROR): Battery stick #50 (s/n: 019C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T06:14:23.344Z,1773382463.344 [BPC1](ERROR): Battery stick #51 (s/n: 01D6) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T06:14:23.345Z,1773382463.345 [BPC1](ERROR): Battery stick #52 (s/n: 0160) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T06:14:23.346Z,1773382463.346 [BPC1](ERROR): Battery stick #53 (s/n: 01EE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T06:14:23.346Z,1773382463.346 [BPC1](ERROR): Battery stick #56 (s/n: 0183) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T06:14:23.347Z,1773382463.347 [BPC1](ERROR): Battery stick #57 (s/n: 019F) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T06:14:23.348Z,1773382463.348 [BPC1](ERROR): Battery stick #59 (s/n: 0184) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x5AD0.
2026-03-13T06:14:23.348Z,1773382463.348 [BPC1](INFO): Calculating totals. Valid battery stick count: 28. Valid reserve battery stick count: 2.
2026-03-13T06:14:23.379Z,1773382463.379 [BPC1](ERROR): Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.
2026-03-13T06:21:05.721Z,1773382865.721 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.797001,-121.847000
2026-03-13T06:21:05.721Z,1773382865.721 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2026-03-13T06:21:05.721Z,1773382865.721 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2026-03-13T06:21:05.722Z,1773382865.722 [keepstation:TransitToStation:C] Running Loop=1
2026-03-13T06:21:06.158Z,1773382866.158 [keepstation:TransitToStation:C] Stopped
2026-03-13T06:21:06.158Z,1773382866.158 [keepstation:TransitToStation:D] Running Loop=1
2026-03-13T06:21:06.158Z,1773382866.158 [keepstation:DiveCmd:StationKeep] Running Loop=1
2026-03-13T06:21:06.159Z,1773382866.159 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::initialize keepstation:DiveCmd:StationKeep
2026-03-13T06:21:06.159Z,1773382866.159 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2026-03-13T06:21:06.159Z,1773382866.159 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2026-03-13T06:21:06.159Z,1773382866.159 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Initialize.
2026-03-13T06:21:06.159Z,1773382866.159 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2026-03-13T06:21:06.159Z,1773382866.159 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2026-03-13T06:21:06.160Z,1773382866.160 [keepstation:DiveCmd:StationKeep] Running Loop=1
2026-03-13T06:21:06.160Z,1773382866.160 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2026-03-13T06:21:06.160Z,1773382866.160 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2026-03-13T06:21:06.161Z,1773382866.161 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2026-03-13T06:21:06.161Z,1773382866.161 [keepstation:DiveCmd:TransitToStation] Stopped
2026-03-13T06:21:06.161Z,1773382866.161 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation
2026-03-13T06:21:06.161Z,1773382866.161 [keepstation:DiveCmd:TransitToStation:dive] Stopped
2026-03-13T06:21:06.161Z,1773382866.161 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation:dive
2026-03-13T06:21:06.161Z,1773382866.161 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Stopped
2026-03-13T06:21:06.161Z,1773382866.161 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-03-13T06:21:06.161Z,1773382866.161 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Stopped
2026-03-13T06:21:06.162Z,1773382866.162 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Stopped
2026-03-13T06:21:06.162Z,1773382866.162 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Uninitialize.
2026-03-13T06:21:06.528Z,1773382866.528 [keepstation:TransitToStation:D] Stopped
2026-03-13T06:21:06.529Z,1773382866.529 [keepstation:TransitToStation](INFO): Completed keepstation:TransitToStation
2026-03-13T06:21:06.529Z,1773382866.529 [keepstation:TransitToStation] Stopped
2026-03-13T06:21:06.529Z,1773382866.529 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2026-03-13T06:21:06.529Z,1773382866.529 [keepstation:TransitToStation:Dive] Stopped
2026-03-13T06:21:06.529Z,1773382866.529 [keepstation:TransitToStation:Dive](DEBUG): Aggregate::uninitialize keepstation:TransitToStation:Dive
2026-03-13T06:21:06.529Z,1773382866.529 [keepstation:TransitToStation:Dive:A] Stopped
2026-03-13T06:21:06.529Z,1773382866.529 [keepstation:TransitToStation:Dive:A](DEBUG): Aggregate::uninitialize keepstation:TransitToStation:Dive:A
2026-03-13T06:21:06.529Z,1773382866.529 [keepstation:OnStation] Running Loop=1
2026-03-13T06:21:06.529Z,1773382866.529 [keepstation:OnStation](DEBUG): Aggregate::initialize keepstation:OnStation
2026-03-13T06:21:06.941Z,1773382866.941 [keepstation:NeedComms] Running Loop=1
2026-03-13T06:21:06.941Z,1773382866.941 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2026-03-13T06:21:06.941Z,1773382866.941 [keepstation:NeedComms:C.GoToSurface] Running Loop=1
2026-03-13T06:21:06.941Z,1773382866.941 [keepstation:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-03-13T06:21:06.941Z,1773382866.941 [keepstation:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2026-03-13T06:21:06.942Z,1773382866.942 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2026-03-13T06:21:06.942Z,1773382866.942 [keepstation:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2026-03-13T06:21:06.942Z,1773382866.942 [keepstation:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2026-03-13T06:21:06.943Z,1773382866.943 [keepstation:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-03-13T06:21:06.943Z,1773382866.943 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-03-13T06:21:06.944Z,1773382866.944 [keepstation:NeedComms:A] Running Loop=1
2026-03-13T06:21:06.945Z,1773382866.945 [keepstation:NeedComms:A](INFO): last time_fix was:  1773381392.000000 second since 1970/01/01T00:00:00Z 
2026-03-13T06:21:06.945Z,1773382866.945 [keepstation:NeedComms:A] Stopped
2026-03-13T06:21:06.945Z,1773382866.945 [keepstation:NeedComms:setActive] Running Loop=1
2026-03-13T06:21:06.945Z,1773382866.945 [keepstation:NeedComms:setActive](DEBUG): Aggregate::initialize keepstation:NeedComms:setActive
2026-03-13T06:21:06.945Z,1773382866.945 [keepstation:NeedComms:setActive:A] Running Loop=1
2026-03-13T06:21:07.359Z,1773382867.359 [keepstation:NeedComms:setActive:A] Stopped
2026-03-13T06:21:07.360Z,1773382867.360 [keepstation:NeedComms:setActive:B] Running Loop=1
2026-03-13T06:21:07.743Z,1773382867.743 [keepstation:NeedComms:setActive:B] Stopped
2026-03-13T06:21:07.743Z,1773382867.743 [keepstation:NeedComms:setActive](INFO): Completed keepstation:NeedComms:setActive
2026-03-13T06:21:07.743Z,1773382867.743 [keepstation:NeedComms:setActive] Stopped
2026-03-13T06:21:07.743Z,1773382867.743 [keepstation:NeedComms:setActive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setActive
2026-03-13T06:22:10.333Z,1773382930.333 [keepstation:NeedComms:D] Running Loop=1
2026-03-13T06:22:10.928Z,1773382930.928 [Radio_Surface](INFO): Powering up
2026-03-13T06:22:16.297Z,1773382936.297 [DataOverHttps](INFO): Radio surface powered ON.
2026-03-13T06:22:46.424Z,1773382966.424 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T06:22:52.074Z,1773382972.074 [NAL9602](INFO): SBD MO Status=2, MOMSN=32756, MT Status=2, MTMSN=0
2026-03-13T06:22:52.074Z,1773382972.074 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T06:23:02.182Z,1773382982.182 [NAL9602](INFO): SBD MO Status=2, MOMSN=32756, MT Status=2, MTMSN=0
2026-03-13T06:23:02.182Z,1773382982.182 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T06:23:17.548Z,1773382997.548 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T06:23:21.162Z,1773383001.162 [NAL9602](INFO): SBD MO Status=0, MOMSN=32756, MT Status=0, MTMSN=0
2026-03-13T06:23:21.162Z,1773383001.162 [NAL9602](INFO): No messages in MT queue
2026-03-13T06:23:22.376Z,1773383002.376 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,062321.00,A,3647.99933,N,12150.71291,W,0.369,2.53,130326,,,A*71
2026-03-13T06:23:22.379Z,1773383002.379 [NAL9602](INFO): GPS fix at 20260313T062321: (36.799989, -121.845215)
2026-03-13T06:23:22.391Z,1773383002.391 [UniversalFixResidualReporter](INFO): Fix residual: 44.9 %DT, over the last 907.0 m. Residual distance 407.1 m at bearing -156.9 degrees. Fix at (36.8000, -121.8452) with 539.6 m made good.
2026-03-13T06:23:22.393Z,1773383002.393 [keepstation:DiveCmd:StationKeep:C.KeepStation](INFO): Rest->Waypoint
2026-03-13T06:23:22.396Z,1773383002.396 [keepstation:NeedComms:D] Stopped
2026-03-13T06:23:22.397Z,1773383002.397 [keepstation:NeedComms:E] Running Loop=1
2026-03-13T06:23:45.640Z,1773383025.640 [NAL9602](INFO): SBD MO Status=2, MOMSN=32757, MT Status=2, MTMSN=0
2026-03-13T06:23:45.640Z,1773383025.640 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T06:23:48.680Z,1773383028.680 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T06:24:14.815Z,1773383054.815 [NAL9602](INFO): SBD MO Status=2, MOMSN=32757, MT Status=2, MTMSN=0
2026-03-13T06:24:14.815Z,1773383054.815 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T06:24:19.804Z,1773383059.804 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T06:24:40.742Z,1773383080.742 [NAL9602](INFO): SBD MO Status=2, MOMSN=32757, MT Status=2, MTMSN=0
2026-03-13T06:24:40.742Z,1773383080.742 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T06:24:50.928Z,1773383090.928 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T06:25:12.357Z,1773383112.357 [NAL9602](INFO): SBD MO Status=2, MOMSN=32757, MT Status=2, MTMSN=0
2026-03-13T06:25:12.357Z,1773383112.357 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T06:25:22.060Z,1773383122.060 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T06:25:45.545Z,1773383145.545 [NAL9602](INFO): SBD MO Status=1, MOMSN=32757, MT Status=0, MTMSN=0
2026-03-13T06:25:45.596Z,1773383145.596 [NAL9602](INFO): Sent 214 bytes from file Logs/20260313T044322/Courier0015.lzma
2026-03-13T06:25:45.596Z,1773383145.596 [NAL9602](INFO): Packets left to send: 0
2026-03-13T06:25:53.184Z,1773383153.184 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T06:26:00.970Z,1773383160.970 [NAL9602](INFO): SBD MO Status=2, MOMSN=32758, MT Status=2, MTMSN=0
2026-03-13T06:26:00.970Z,1773383160.970 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T06:26:01.896Z,1773383161.896 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002989
2026-03-13T06:26:09.351Z,1773383169.351 [DataOverHttps](INFO): Sending 310 bytes from file Logs/20260313T044322/Express0016.lzma
2026-03-13T06:26:10.353Z,1773383170.353 [DataOverHttps](INFO): Moved sent file to Logs/20260313T044322/Express0016.lzma.bak
2026-03-13T06:26:10.353Z,1773383170.353 [DataOverHttps](INFO): SBD MOMSN=26730353
2026-03-13T06:26:11.676Z,1773383171.676 [keepstation:NeedComms:E] Stopped
2026-03-13T06:26:11.676Z,1773383171.676 [keepstation:NeedComms:F] Running Loop=1
2026-03-13T06:26:33.470Z,1773383193.470 [NAL9602](INFO): SBD MO Status=2, MOMSN=32758, MT Status=2, MTMSN=0
2026-03-13T06:26:33.470Z,1773383193.470 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T06:26:34.677Z,1773383194.677 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,062633.00,A,3648.03398,N,12150.71309,W,0.428,18.63,130326,,,D*4F
2026-03-13T06:26:34.679Z,1773383194.679 [NAL9602](INFO): GPS fix at 20260313T062633: (36.800566, -121.845218)
2026-03-13T06:26:34.711Z,1773383194.711 [keepstation:NeedComms:F] Stopped
2026-03-13T06:26:34.711Z,1773383194.711 [keepstation:NeedComms:setRestoreMode] Running Loop=1
2026-03-13T06:26:34.711Z,1773383194.711 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::initialize keepstation:NeedComms:setRestoreMode
2026-03-13T06:26:34.711Z,1773383194.711 [keepstation:NeedComms:setRestoreMode:A] Running Loop=1
2026-03-13T06:26:35.123Z,1773383195.123 [keepstation:NeedComms:setRestoreMode:A] Stopped
2026-03-13T06:26:35.123Z,1773383195.123 [keepstation:NeedComms:setRestoreMode](INFO): Completed keepstation:NeedComms:setRestoreMode
2026-03-13T06:26:35.123Z,1773383195.123 [keepstation:NeedComms:setRestoreMode] Stopped
2026-03-13T06:26:35.123Z,1773383195.123 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setRestoreMode
2026-03-13T06:26:35.123Z,1773383195.123 [keepstation:NeedComms:setInactive] Running Loop=1
2026-03-13T06:26:35.124Z,1773383195.124 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::initialize keepstation:NeedComms:setInactive
2026-03-13T06:26:35.124Z,1773383195.124 [keepstation:NeedComms:setInactive:A] Running Loop=1
2026-03-13T06:26:35.503Z,1773383195.503 [keepstation:NeedComms:setInactive:A] Stopped
2026-03-13T06:26:35.503Z,1773383195.503 [keepstation:NeedComms:setInactive](INFO): Completed keepstation:NeedComms:setInactive
2026-03-13T06:26:35.503Z,1773383195.503 [keepstation:NeedComms:setInactive] Stopped
2026-03-13T06:26:35.503Z,1773383195.503 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setInactive
2026-03-13T06:26:35.504Z,1773383195.504 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2026-03-13T06:26:35.504Z,1773383195.504 [keepstation:NeedComms] Stopped
2026-03-13T06:26:35.504Z,1773383195.504 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2026-03-13T06:26:35.504Z,1773383195.504 [keepstation:NeedComms:C.GoToSurface] Stopped
2026-03-13T06:26:35.504Z,1773383195.504 [keepstation:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-03-13T06:26:35.908Z,1773383195.908 [keepstation:OnStation](INFO): Completed keepstation:OnStation
2026-03-13T06:26:35.908Z,1773383195.908 [keepstation:OnStation] Stopped
2026-03-13T06:26:35.908Z,1773383195.908 [keepstation:OnStation](DEBUG): Aggregate::uninitialize keepstation:OnStation
2026-03-13T06:26:35.908Z,1773383195.908 [keepstation:KeepStation] Running Loop=1
2026-03-13T06:26:35.908Z,1773383195.908 [keepstation:KeepStation](DEBUG): Aggregate::initialize keepstation:KeepStation
2026-03-13T06:26:35.908Z,1773383195.908 [keepstation:KeepStation:Dive] Running Loop=1
2026-03-13T06:26:35.908Z,1773383195.908 [keepstation:KeepStation:Dive](DEBUG): Aggregate::initialize keepstation:KeepStation:Dive
2026-03-13T06:26:35.909Z,1773383195.909 [keepstation:KeepStation:Dive:A] Running Loop=1
2026-03-13T06:26:35.909Z,1773383195.909 [keepstation:KeepStation:Dive:A](DEBUG): Aggregate::initialize keepstation:KeepStation:Dive:A
2026-03-13T06:26:35.909Z,1773383195.909 [keepstation:KeepStation:B.Wait] Running Loop=1
2026-03-13T06:26:35.909Z,1773383195.909 [keepstation:KeepStation:B.Wait](DEBUG): Initialize Wait Component.
2026-03-13T06:26:36.318Z,1773383196.318 [keepstation:KeepStation:Dive] Running Loop=1
2026-03-13T06:27:07.441Z,1773383227.441 [NAL9602](INFO): Not Powering down - fast GPS
2026-03-13T06:28:13.036Z,1773383293.036 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T06:28:23.903Z,1773383303.903 [Radio_Surface](INFO): Powering down
2026-03-13T06:28:44.160Z,1773383324.160 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T06:28:45.164Z,1773383325.164 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2026-03-13T06:30:20.573Z,1773383420.573 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.768829
2026-03-13T06:43:51.431Z,1773384231.431 [keepstation:DiveCmd:StationKeep:C.KeepStation](INFO): Waypoint->Rest
2026-03-13T07:26:34.837Z,1773386794.837 [keepstation:SurfaceComms] Running Loop=1
2026-03-13T07:26:34.837Z,1773386794.837 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms
2026-03-13T07:26:34.837Z,1773386794.837 [keepstation:SurfaceComms:A] Running Loop=1
2026-03-13T07:26:34.838Z,1773386794.838 [keepstation:SurfaceComms:A] Stopped
2026-03-13T07:26:34.838Z,1773386794.838 [keepstation:SurfaceComms:B] Running Loop=1
2026-03-13T07:26:34.838Z,1773386794.838 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B
2026-03-13T07:26:35.302Z,1773386795.302 [keepstation:KeepStation:Dive] Stopped
2026-03-13T07:26:35.302Z,1773386795.302 [keepstation:KeepStation:Dive](DEBUG): Aggregate::uninitialize keepstation:KeepStation:Dive
2026-03-13T07:26:35.302Z,1773386795.302 [keepstation:KeepStation:Dive:A] Stopped
2026-03-13T07:26:35.303Z,1773386795.303 [keepstation:KeepStation:Dive:A](DEBUG): Aggregate::uninitialize keepstation:KeepStation:Dive:A
2026-03-13T07:26:35.303Z,1773386795.303 [keepstation:DiveCmd:StationKeep] Stopped
2026-03-13T07:26:35.303Z,1773386795.303 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:StationKeep
2026-03-13T07:26:35.303Z,1773386795.303 [keepstation:DiveCmd:StationKeep:A] Stopped
2026-03-13T07:26:35.303Z,1773386795.303 [keepstation:DiveCmd:StationKeep:B.Pitch] Stopped
2026-03-13T07:26:35.303Z,1773386795.303 [keepstation:DiveCmd:StationKeep:C.KeepStation] Stopped
2026-03-13T07:26:35.304Z,1773386795.304 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2026-03-13T07:26:35.306Z,1773386795.306 [keepstation:NeedComms] Running Loop=1
2026-03-13T07:26:35.307Z,1773386795.307 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2026-03-13T07:26:35.310Z,1773386795.310 [keepstation:NeedComms:C.GoToSurface] Running Loop=1
2026-03-13T07:26:35.311Z,1773386795.311 [keepstation:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-03-13T07:26:35.331Z,1773386795.331 [keepstation:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2026-03-13T07:26:35.332Z,1773386795.332 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2026-03-13T07:26:35.332Z,1773386795.332 [keepstation:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2026-03-13T07:26:35.332Z,1773386795.332 [keepstation:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2026-03-13T07:26:35.333Z,1773386795.333 [keepstation:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-03-13T07:26:35.333Z,1773386795.333 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-03-13T07:26:35.333Z,1773386795.333 [keepstation:NeedComms:A] Running Loop=1
2026-03-13T07:26:35.335Z,1773386795.335 [keepstation:NeedComms:A](INFO): last time_fix was:  1773383193.000000 second since 1970/01/01T00:00:00Z 
2026-03-13T07:26:35.335Z,1773386795.335 [keepstation:NeedComms:A] Stopped
2026-03-13T07:26:35.335Z,1773386795.335 [keepstation:NeedComms:setActive] Running Loop=1
2026-03-13T07:26:35.335Z,1773386795.335 [keepstation:NeedComms:setActive](DEBUG): Aggregate::initialize keepstation:NeedComms:setActive
2026-03-13T07:26:35.339Z,1773386795.339 [keepstation:NeedComms:setActive:A] Running Loop=1
2026-03-13T07:26:35.655Z,1773386795.655 [keepstation:NeedComms:setActive:A] Stopped
2026-03-13T07:26:35.655Z,1773386795.655 [keepstation:NeedComms:setActive:B] Running Loop=1
2026-03-13T07:26:36.071Z,1773386796.071 [keepstation:NeedComms:setActive:B] Stopped
2026-03-13T07:26:36.072Z,1773386796.072 [keepstation:NeedComms:setActive](INFO): Completed keepstation:NeedComms:setActive
2026-03-13T07:26:36.072Z,1773386796.072 [keepstation:NeedComms:setActive] Stopped
2026-03-13T07:26:36.072Z,1773386796.072 [keepstation:NeedComms:setActive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setActive
2026-03-13T07:28:33.264Z,1773386913.264 [keepstation:NeedComms:D] Running Loop=1
2026-03-13T07:28:33.736Z,1773386913.736 [Radio_Surface](INFO): Powering up
2026-03-13T07:28:39.136Z,1773386919.136 [DataOverHttps](INFO): Radio surface powered ON.
2026-03-13T07:29:09.256Z,1773386949.256 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T07:29:22.138Z,1773386962.138 [NAL9602](INFO): SBD MO Status=1, MOMSN=32758, MT Status=0, MTMSN=0
2026-03-13T07:29:22.139Z,1773386962.139 [NAL9602](INFO): No messages in MT queue
2026-03-13T07:29:23.350Z,1773386963.350 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,072922.00,A,3648.00143,N,12150.80870,W,0.505,75.17,130326,,,D*4B
2026-03-13T07:29:23.353Z,1773386963.353 [NAL9602](INFO): GPS fix at 20260313T072922: (36.800024, -121.846812)
2026-03-13T07:29:23.365Z,1773386963.365 [UniversalFixResidualReporter](INFO): Fix residual: 81.0 %DT, over the last 686.5 m. Residual distance 556.3 m at bearing -173.4 degrees. Fix at (36.8000, -121.8468) with 154.2 m made good.
2026-03-13T07:29:23.368Z,1773386963.368 [keepstation:NeedComms:D] Stopped
2026-03-13T07:29:23.368Z,1773386963.368 [keepstation:NeedComms:E] Running Loop=1
2026-03-13T07:29:40.380Z,1773386980.380 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T07:30:00.198Z,1773387000.198 [NAL9602](INFO): SBD MO Status=2, MOMSN=32759, MT Status=2, MTMSN=0
2026-03-13T07:30:00.198Z,1773387000.198 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T07:30:11.504Z,1773387011.504 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T07:30:18.082Z,1773387018.082 [NAL9602](INFO): SBD MO Status=2, MOMSN=32759, MT Status=2, MTMSN=0
2026-03-13T07:30:18.082Z,1773387018.082 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T07:30:42.636Z,1773387042.636 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T07:30:43.190Z,1773387043.190 [NAL9602](INFO): SBD MO Status=2, MOMSN=32759, MT Status=2, MTMSN=0
2026-03-13T07:30:43.190Z,1773387043.190 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T07:31:00.614Z,1773387060.614 [NAL9602](INFO): SBD MO Status=2, MOMSN=32759, MT Status=2, MTMSN=0
2026-03-13T07:31:00.614Z,1773387060.614 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T07:31:13.760Z,1773387073.760 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T07:31:24.103Z,1773387084.103 [NAL9602](INFO): SBD MO Status=2, MOMSN=32759, MT Status=2, MTMSN=0
2026-03-13T07:31:24.103Z,1773387084.103 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T07:31:44.885Z,1773387104.885 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T07:31:52.110Z,1773387112.110 [NAL9602](INFO): SBD MO Status=1, MOMSN=32759, MT Status=0, MTMSN=0
2026-03-13T07:31:52.176Z,1773387112.176 [NAL9602](INFO): Sent 84 bytes from file Logs/20260313T044322/Courier0018.lzma
2026-03-13T07:31:52.176Z,1773387112.176 [NAL9602](INFO): Packets left to send: 0
2026-03-13T07:32:01.001Z,1773387121.001 [NAL9602](INFO): SBD MO Status=1, MOMSN=32760, MT Status=0, MTMSN=0
2026-03-13T07:32:01.056Z,1773387121.056 [NAL9602](INFO): Sent 332 bytes from file Logs/20260313T044322/Express0019.lzma
2026-03-13T07:32:01.056Z,1773387121.056 [NAL9602](INFO): Packets left to send: 1
2026-03-13T07:32:16.008Z,1773387136.008 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T07:32:16.022Z,1773387136.022 [NAL9602](INFO): SBD MO Status=1, MOMSN=32761, MT Status=0, MTMSN=0
2026-03-13T07:32:16.072Z,1773387136.072 [NAL9602](INFO): Sent 96 bytes from file Logs/20260313T044322/Express0019.lzma
2026-03-13T07:32:16.072Z,1773387136.072 [NAL9602](INFO): Packets left to send: 0
2026-03-13T07:32:24.615Z,1773387144.615 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002951
2026-03-13T07:32:26.137Z,1773387146.137 [keepstation:NeedComms:E] Stopped
2026-03-13T07:32:26.138Z,1773387146.138 [keepstation:NeedComms:F] Running Loop=1
2026-03-13T07:32:32.708Z,1773387152.708 [NAL9602](INFO): SBD MO Status=2, MOMSN=32762, MT Status=2, MTMSN=0
2026-03-13T07:32:32.709Z,1773387152.709 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T07:32:33.806Z,1773387153.806 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,073233.00,A,3648.02648,N,12150.79157,W,1.536,49.19,130326,,,D*45
2026-03-13T07:32:33.809Z,1773387153.809 [NAL9602](INFO): GPS fix at 20260313T073233: (36.800441, -121.846526)
2026-03-13T07:32:33.831Z,1773387153.831 [keepstation:NeedComms:F] Stopped
2026-03-13T07:32:33.831Z,1773387153.831 [keepstation:NeedComms:setRestoreMode] Running Loop=1
2026-03-13T07:32:33.831Z,1773387153.831 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::initialize keepstation:NeedComms:setRestoreMode
2026-03-13T07:32:33.831Z,1773387153.831 [keepstation:NeedComms:setRestoreMode:A] Running Loop=1
2026-03-13T07:32:34.226Z,1773387154.226 [keepstation:NeedComms:setRestoreMode:A] Stopped
2026-03-13T07:32:34.227Z,1773387154.227 [keepstation:NeedComms:setRestoreMode](INFO): Completed keepstation:NeedComms:setRestoreMode
2026-03-13T07:32:34.227Z,1773387154.227 [keepstation:NeedComms:setRestoreMode] Stopped
2026-03-13T07:32:34.227Z,1773387154.227 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setRestoreMode
2026-03-13T07:32:34.227Z,1773387154.227 [keepstation:NeedComms:setInactive] Running Loop=1
2026-03-13T07:32:34.227Z,1773387154.227 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::initialize keepstation:NeedComms:setInactive
2026-03-13T07:32:34.227Z,1773387154.227 [keepstation:NeedComms:setInactive:A] Running Loop=1
2026-03-13T07:32:34.614Z,1773387154.614 [keepstation:NeedComms:setInactive:A] Stopped
2026-03-13T07:32:34.614Z,1773387154.614 [keepstation:NeedComms:setInactive](INFO): Completed keepstation:NeedComms:setInactive
2026-03-13T07:32:34.614Z,1773387154.614 [keepstation:NeedComms:setInactive] Stopped
2026-03-13T07:32:34.614Z,1773387154.614 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setInactive
2026-03-13T07:32:34.615Z,1773387154.615 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2026-03-13T07:32:34.615Z,1773387154.615 [keepstation:NeedComms] Stopped
2026-03-13T07:32:34.636Z,1773387154.636 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2026-03-13T07:32:34.638Z,1773387154.638 [keepstation:NeedComms:C.GoToSurface] Stopped
2026-03-13T07:32:34.644Z,1773387154.644 [keepstation:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-03-13T07:32:35.027Z,1773387155.027 [keepstation:SurfaceComms:B](INFO): Completed keepstation:SurfaceComms:B
2026-03-13T07:32:35.028Z,1773387155.028 [keepstation:SurfaceComms:B] Stopped
2026-03-13T07:32:35.028Z,1773387155.028 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B
2026-03-13T07:32:35.028Z,1773387155.028 [keepstation:SurfaceComms:HandleNan] Running Loop=1
2026-03-13T07:32:35.028Z,1773387155.028 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan
2026-03-13T07:32:35.028Z,1773387155.028 [keepstation:SurfaceComms:HandleNan:SetOnStation] Running Loop=1
2026-03-13T07:32:35.028Z,1773387155.028 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan:SetOnStation
2026-03-13T07:32:35.028Z,1773387155.028 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Running Loop=1
2026-03-13T07:32:35.416Z,1773387155.416 [keepstation:SurfaceComms:HandleNan] Stopped
2026-03-13T07:32:35.417Z,1773387155.417 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan
2026-03-13T07:32:35.417Z,1773387155.417 [keepstation:SurfaceComms:HandleNan:SetOnStation] Stopped
2026-03-13T07:32:35.417Z,1773387155.417 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan:SetOnStation
2026-03-13T07:32:35.417Z,1773387155.417 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Stopped
2026-03-13T07:32:35.417Z,1773387155.417 [keepstation:SurfaceComms:setTransit] Running Loop=1
2026-03-13T07:32:35.417Z,1773387155.417 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setTransit
2026-03-13T07:32:35.417Z,1773387155.417 [keepstation:SurfaceComms:setTransit:A] Running Loop=1
2026-03-13T07:32:35.824Z,1773387155.824 [keepstation:SurfaceComms:setTransit] Stopped
2026-03-13T07:32:35.824Z,1773387155.824 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setTransit
2026-03-13T07:32:35.824Z,1773387155.824 [keepstation:SurfaceComms:setTransit:A] Stopped
2026-03-13T07:32:35.824Z,1773387155.824 [keepstation:SurfaceComms:setStation] Running Loop=1
2026-03-13T07:32:35.824Z,1773387155.824 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setStation
2026-03-13T07:32:35.825Z,1773387155.825 [keepstation:SurfaceComms:setStation:A] Running Loop=1
2026-03-13T07:32:36.225Z,1773387156.225 [keepstation:SurfaceComms:setStation:A] Stopped
2026-03-13T07:32:36.225Z,1773387156.225 [keepstation:SurfaceComms:setStation](INFO): Completed keepstation:SurfaceComms:setStation
2026-03-13T07:32:36.225Z,1773387156.225 [keepstation:SurfaceComms:setStation] Stopped
2026-03-13T07:32:36.225Z,1773387156.225 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setStation
2026-03-13T07:32:36.225Z,1773387156.225 [keepstation:SurfaceComms:setSink] Running Loop=1
2026-03-13T07:32:36.226Z,1773387156.226 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setSink
2026-03-13T07:32:36.226Z,1773387156.226 [keepstation:SurfaceComms:setSink:A] Running Loop=1
2026-03-13T07:32:36.636Z,1773387156.636 [keepstation:KeepStation:Dive] Running Loop=1
2026-03-13T07:32:36.636Z,1773387156.636 [keepstation:KeepStation:Dive](DEBUG): Aggregate::initialize keepstation:KeepStation:Dive
2026-03-13T07:32:36.636Z,1773387156.636 [keepstation:KeepStation:Dive:A] Running Loop=1
2026-03-13T07:32:36.636Z,1773387156.636 [keepstation:KeepStation:Dive:A](DEBUG): Aggregate::initialize keepstation:KeepStation:Dive:A
2026-03-13T07:32:36.637Z,1773387156.637 [keepstation:DiveCmd:StationKeep] Running Loop=1
2026-03-13T07:32:36.637Z,1773387156.637 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::initialize keepstation:DiveCmd:StationKeep
2026-03-13T07:32:36.637Z,1773387156.637 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2026-03-13T07:32:36.637Z,1773387156.637 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2026-03-13T07:32:36.637Z,1773387156.637 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Initialize.
2026-03-13T07:32:36.637Z,1773387156.637 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2026-03-13T07:32:36.637Z,1773387156.637 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2026-03-13T07:32:36.639Z,1773387156.639 [keepstation:DiveCmd:StationKeep:C.KeepStation](INFO): Rest->Waypoint
2026-03-13T07:32:36.645Z,1773387156.645 [keepstation:SurfaceComms:setSink] Stopped
2026-03-13T07:32:36.645Z,1773387156.645 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setSink
2026-03-13T07:32:36.645Z,1773387156.645 [keepstation:SurfaceComms:setSink:A] Stopped
2026-03-13T07:32:36.645Z,1773387156.645 [keepstation:SurfaceComms](INFO): Completed keepstation:SurfaceComms
2026-03-13T07:32:36.645Z,1773387156.645 [keepstation:SurfaceComms] Stopped
2026-03-13T07:32:36.645Z,1773387156.645 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms
2026-03-13T07:33:06.257Z,1773387186.257 [NAL9602](INFO): Not Powering down - fast GPS
2026-03-13T07:33:57.209Z,1773387237.209 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T07:34:19.267Z,1773387259.267 [Radio_Surface](INFO): Powering down
2026-03-13T07:34:28.332Z,1773387268.332 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T07:34:29.336Z,1773387269.336 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2026-03-13T07:36:07.744Z,1773387367.744 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.739456
2026-03-13T07:45:24.387Z,1773387924.387 [BPC1](FAULT): Battery stick #17 (s/n: 0084) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2026-03-13T07:45:24.388Z,1773387924.388 [BPC1](FAULT): Battery stick #24 (s/n: 01D3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T07:45:24.388Z,1773387924.388 [BPC1](ERROR): Battery stick #29 (s/n: 00A7) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2026-03-13T07:45:24.389Z,1773387924.389 [BPC1](ERROR): Battery stick #30 (s/n: 015F) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T07:45:24.390Z,1773387924.390 [BPC1](FAULT): Battery stick #37 (s/n: 0181) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T07:45:24.390Z,1773387924.390 [BPC1](FAULT): Battery stick #38 (s/n: 01BC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T07:45:24.391Z,1773387924.391 [BPC1](FAULT): Battery stick #39 (s/n: 0189) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T07:45:24.392Z,1773387924.392 [BPC1](FAULT): Battery stick #40 (s/n: 01A4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T07:45:24.393Z,1773387924.393 [BPC1](FAULT): Battery stick #44 (s/n: 01BB) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T07:45:24.393Z,1773387924.393 [BPC1](FAULT): Battery stick #50 (s/n: 019C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T07:45:24.394Z,1773387924.394 [BPC1](FAULT): Battery stick #51 (s/n: 01D6) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T07:45:24.395Z,1773387924.395 [BPC1](FAULT): Battery stick #52 (s/n: 0160) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T07:45:24.396Z,1773387924.396 [BPC1](FAULT): Battery stick #53 (s/n: 01EE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T07:45:24.396Z,1773387924.396 [BPC1](FAULT): Battery stick #56 (s/n: 0183) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T07:45:24.397Z,1773387924.397 [BPC1](FAULT): Battery stick #57 (s/n: 019F) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T07:45:24.398Z,1773387924.398 [BPC1](FAULT): Battery stick #59 (s/n: 0184) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x5AD0.
2026-03-13T07:45:24.398Z,1773387924.398 [BPC1](INFO): Calculating totals. Valid battery stick count: 28. Valid reserve battery stick count: 2.
2026-03-13T07:45:24.401Z,1773387924.401 [BPC1](ERROR): Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.
2026-03-13T07:48:23.389Z,1773388103.389 [keepstation:DiveCmd:StationKeep:C.KeepStation](INFO): Waypoint->Rest
2026-03-13T08:32:34.027Z,1773390754.027 [keepstation:SurfaceComms] Running Loop=1
2026-03-13T08:32:34.027Z,1773390754.027 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms
2026-03-13T08:32:34.031Z,1773390754.031 [keepstation:SurfaceComms:A] Running Loop=1
2026-03-13T08:32:34.032Z,1773390754.032 [keepstation:SurfaceComms:A] Stopped
2026-03-13T08:32:34.032Z,1773390754.032 [keepstation:SurfaceComms:B] Running Loop=1
2026-03-13T08:32:34.032Z,1773390754.032 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B
2026-03-13T08:32:34.416Z,1773390754.416 [keepstation:KeepStation:Dive] Stopped
2026-03-13T08:32:34.416Z,1773390754.416 [keepstation:KeepStation:Dive](DEBUG): Aggregate::uninitialize keepstation:KeepStation:Dive
2026-03-13T08:32:34.416Z,1773390754.416 [keepstation:KeepStation:Dive:A] Stopped
2026-03-13T08:32:34.417Z,1773390754.417 [keepstation:KeepStation:Dive:A](DEBUG): Aggregate::uninitialize keepstation:KeepStation:Dive:A
2026-03-13T08:32:34.417Z,1773390754.417 [keepstation:DiveCmd:StationKeep] Stopped
2026-03-13T08:32:34.417Z,1773390754.417 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:StationKeep
2026-03-13T08:32:34.417Z,1773390754.417 [keepstation:DiveCmd:StationKeep:A] Stopped
2026-03-13T08:32:34.417Z,1773390754.417 [keepstation:DiveCmd:StationKeep:B.Pitch] Stopped
2026-03-13T08:32:34.417Z,1773390754.417 [keepstation:DiveCmd:StationKeep:C.KeepStation] Stopped
2026-03-13T08:32:34.417Z,1773390754.417 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2026-03-13T08:32:34.419Z,1773390754.419 [keepstation:NeedComms] Running Loop=1
2026-03-13T08:32:34.419Z,1773390754.419 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2026-03-13T08:32:34.419Z,1773390754.419 [keepstation:NeedComms:C.GoToSurface] Running Loop=1
2026-03-13T08:32:34.419Z,1773390754.419 [keepstation:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-03-13T08:32:34.420Z,1773390754.420 [keepstation:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2026-03-13T08:32:34.420Z,1773390754.420 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2026-03-13T08:32:34.420Z,1773390754.420 [keepstation:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2026-03-13T08:32:34.421Z,1773390754.421 [keepstation:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2026-03-13T08:32:34.421Z,1773390754.421 [keepstation:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-03-13T08:32:34.421Z,1773390754.421 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-03-13T08:32:34.422Z,1773390754.422 [keepstation:NeedComms:A] Running Loop=1
2026-03-13T08:32:34.423Z,1773390754.423 [keepstation:NeedComms:A](INFO): last time_fix was:  1773387153.000000 second since 1970/01/01T00:00:00Z 
2026-03-13T08:32:34.423Z,1773390754.423 [keepstation:NeedComms:A] Stopped
2026-03-13T08:32:34.424Z,1773390754.424 [keepstation:NeedComms:setActive] Running Loop=1
2026-03-13T08:32:34.424Z,1773390754.424 [keepstation:NeedComms:setActive](DEBUG): Aggregate::initialize keepstation:NeedComms:setActive
2026-03-13T08:32:34.424Z,1773390754.424 [keepstation:NeedComms:setActive:A] Running Loop=1
2026-03-13T08:32:34.825Z,1773390754.825 [keepstation:NeedComms:setActive:A] Stopped
2026-03-13T08:32:34.825Z,1773390754.825 [keepstation:NeedComms:setActive:B] Running Loop=1
2026-03-13T08:32:35.239Z,1773390755.239 [keepstation:NeedComms:setActive:B] Stopped
2026-03-13T08:32:35.239Z,1773390755.239 [keepstation:NeedComms:setActive](INFO): Completed keepstation:NeedComms:setActive
2026-03-13T08:32:35.239Z,1773390755.239 [keepstation:NeedComms:setActive] Stopped
2026-03-13T08:32:35.240Z,1773390755.240 [keepstation:NeedComms:setActive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setActive
2026-03-13T08:34:23.441Z,1773390863.441 [keepstation:NeedComms:D] Running Loop=1
2026-03-13T08:34:23.831Z,1773390863.831 [Radio_Surface](INFO): Powering up
2026-03-13T08:34:29.240Z,1773390869.240 [DataOverHttps](INFO): Radio surface powered ON.
2026-03-13T08:34:45.241Z,1773390885.241 [NAL9602](INFO): SBD MO Status=2, MOMSN=32762, MT Status=2, MTMSN=0
2026-03-13T08:34:45.241Z,1773390885.241 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T08:34:59.368Z,1773390899.368 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T08:35:30.508Z,1773390930.508 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T08:35:34.956Z,1773390934.956 [NAL9602](INFO): SBD MO Status=2, MOMSN=32762, MT Status=2, MTMSN=0
2026-03-13T08:35:34.956Z,1773390934.956 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T08:35:43.821Z,1773390943.821 [NAL9602](INFO): SBD MO Status=0, MOMSN=32762, MT Status=0, MTMSN=0
2026-03-13T08:35:43.821Z,1773390943.821 [NAL9602](INFO): No messages in MT queue
2026-03-13T08:35:45.043Z,1773390945.043 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,083544.00,A,3647.98271,N,12150.53269,W,0.330,332.79,130326,,,A*74
2026-03-13T08:35:45.045Z,1773390945.045 [NAL9602](INFO): GPS fix at 20260313T083544: (36.799712, -121.842212)
2026-03-13T08:35:45.072Z,1773390945.072 [UniversalFixResidualReporter](INFO): Fix residual: 105.3 %DT, over the last 630.7 m. Residual distance 664.0 m at bearing -140.6 degrees. Fix at (36.7997, -121.8422) with 392.6 m made good.
2026-03-13T08:35:45.075Z,1773390945.075 [keepstation:NeedComms:D] Stopped
2026-03-13T08:35:45.075Z,1773390945.075 [keepstation:NeedComms:E] Running Loop=1
2026-03-13T08:35:45.113Z,1773390945.113 [CBIT](CRITICAL): Navigation error has exceeded threshold. navErrorCriticalReporting is enabled.
2026-03-13T08:35:45.514Z,1773390945.514 [CommandExec](FAULT): Scheduling is paused
2026-03-13T08:35:45.514Z,1773390945.514 [CBIT](INFO): Critical error at 20260313T083545
2026-03-13T08:35:45.514Z,1773390945.514 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2026-03-13T08:35:45.860Z,1773390945.860 [MissionManager](INFO): MissionManager is completed.
2026-03-13T08:35:45.861Z,1773390945.861 [MissionManager](INFO): Uninitializing Mission keepstation
2026-03-13T08:35:45.861Z,1773390945.861 [keepstation] Stopped
2026-03-13T08:35:45.861Z,1773390945.861 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2026-03-13T08:35:45.861Z,1773390945.861 [keepstation:NeedComms] Stopped
2026-03-13T08:35:45.861Z,1773390945.861 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2026-03-13T08:35:45.861Z,1773390945.861 [keepstation:NeedComms:C.GoToSurface] Stopped
2026-03-13T08:35:45.861Z,1773390945.861 [keepstation:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-03-13T08:35:45.861Z,1773390945.861 [keepstation:NeedComms:E] Stopped
2026-03-13T08:35:45.861Z,1773390945.861 [keepstation:StandardEnvelopes] Stopped
2026-03-13T08:35:45.861Z,1773390945.861 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2026-03-13T08:35:45.861Z,1773390945.861 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2026-03-13T08:35:45.862Z,1773390945.862 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2026-03-13T08:35:45.862Z,1773390945.862 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2026-03-13T08:35:45.862Z,1773390945.862 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2026-03-13T08:35:45.862Z,1773390945.862 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2026-03-13T08:35:45.862Z,1773390945.862 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2026-03-13T08:35:45.862Z,1773390945.862 [keepstation:BackseatDriver] Stopped
2026-03-13T08:35:45.862Z,1773390945.862 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2026-03-13T08:35:45.862Z,1773390945.862 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2026-03-13T08:35:45.862Z,1773390945.862 [keepstation:PowerOnly] Stopped
2026-03-13T08:35:45.862Z,1773390945.862 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2026-03-13T08:35:45.862Z,1773390945.862 [keepstation:PowerOnly:E.Wait] Stopped
2026-03-13T08:35:45.862Z,1773390945.862 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2026-03-13T08:35:45.863Z,1773390945.863 [keepstation:H.Pitch] Stopped
2026-03-13T08:35:45.863Z,1773390945.863 [keepstation:SurfaceComms] Stopped
2026-03-13T08:35:45.863Z,1773390945.863 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms
2026-03-13T08:35:45.863Z,1773390945.863 [keepstation:SurfaceComms:B] Stopped
2026-03-13T08:35:45.863Z,1773390945.863 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B
2026-03-13T08:35:45.863Z,1773390945.863 [keepstation:DiveCmd] Stopped
2026-03-13T08:35:45.864Z,1773390945.864 [keepstation:DiveCmd](DEBUG): Aggregate::uninitialize keepstation:DiveCmd
2026-03-13T08:35:45.864Z,1773390945.864 [keepstation:KeepStation] Stopped
2026-03-13T08:35:45.864Z,1773390945.864 [keepstation:KeepStation](DEBUG): Aggregate::uninitialize keepstation:KeepStation
2026-03-13T08:35:45.864Z,1773390945.864 [keepstation:KeepStation:B.Wait] Stopped
2026-03-13T08:35:45.865Z,1773390945.865 [keepstation:KeepStation:B.Wait](DEBUG): Uninitialize Wait Component.
2026-03-13T08:35:46.288Z,1773390946.288 [MissionManager](IMPORTANT): Started mission Default
2026-03-13T08:35:46.288Z,1773390946.288 [Default] Running Loop=1
2026-03-13T08:35:46.288Z,1773390946.288 [Default](DEBUG): Aggregate::initialize Default
2026-03-13T08:35:46.288Z,1773390946.288 [Default:B.GoToSurface] Running Loop=1
2026-03-13T08:35:46.288Z,1773390946.288 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-03-13T08:35:46.288Z,1773390946.288 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2026-03-13T08:35:46.289Z,1773390946.289 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2026-03-13T08:35:46.289Z,1773390946.289 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2026-03-13T08:35:46.289Z,1773390946.289 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2026-03-13T08:35:46.290Z,1773390946.290 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-03-13T08:35:46.290Z,1773390946.290 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-03-13T08:35:46.290Z,1773390946.290 [Default:A.Wait] Running Loop=1
2026-03-13T08:35:46.290Z,1773390946.290 [Default:A.Wait](DEBUG): Initialize Wait Component.
2026-03-13T08:35:59.602Z,1773390959.602 [Default:A.Wait](INFO): Done Waiting.
2026-03-13T08:35:59.602Z,1773390959.602 [Default:A.Wait] Stopped
2026-03-13T08:35:59.602Z,1773390959.602 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2026-03-13T08:36:00.026Z,1773390960.026 [Default:CheckIn] Running Loop=1
2026-03-13T08:36:00.026Z,1773390960.026 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2026-03-13T08:36:00.026Z,1773390960.026 [Default:CheckIn:Read_GPS] Running Loop=1
2026-03-13T08:36:01.632Z,1773390961.632 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T08:36:02.005Z,1773390962.005 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,083601.00,A,3647.98554,N,12150.53166,W,0.486,331.72,130326,,,A*78
2026-03-13T08:36:02.007Z,1773390962.007 [NAL9602](INFO): GPS fix at 20260313T083601: (36.799759, -121.842194)
2026-03-13T08:36:02.020Z,1773390962.020 [Default:CheckIn:Read_GPS] Stopped
2026-03-13T08:36:02.021Z,1773390962.021 [Default:CheckIn:Read_Iridium] Running Loop=1
2026-03-13T08:36:25.930Z,1773390985.930 [NAL9602](INFO): SBD MO Status=1, MOMSN=32763, MT Status=0, MTMSN=0
2026-03-13T08:36:25.984Z,1773390985.984 [NAL9602](INFO): Sent 196 bytes from file Logs/20260313T044322/Courier0021.lzma
2026-03-13T08:36:25.984Z,1773390985.984 [NAL9602](INFO): Packets left to send: 0
2026-03-13T08:36:32.756Z,1773390992.756 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T08:36:35.682Z,1773390995.682 [NAL9602](INFO): SBD MO Status=1, MOMSN=32764, MT Status=0, MTMSN=0
2026-03-13T08:36:35.732Z,1773390995.732 [NAL9602](INFO): Sent 74 bytes from file Logs/20260313T044322/Courier0024.lzma
2026-03-13T08:36:35.732Z,1773390995.732 [NAL9602](INFO): Packets left to send: 0
2026-03-13T08:36:46.622Z,1773391006.622 [NAL9602](INFO): SBD MO Status=1, MOMSN=32765, MT Status=0, MTMSN=0
2026-03-13T08:36:46.680Z,1773391006.680 [NAL9602](INFO): Sent 332 bytes from file Logs/20260313T044322/Express0022.lzma
2026-03-13T08:36:46.680Z,1773391006.680 [NAL9602](INFO): Packets left to send: 2
2026-03-13T08:37:02.046Z,1773391022.046 [NAL9602](INFO): SBD MO Status=2, MOMSN=32766, MT Status=2, MTMSN=0
2026-03-13T08:37:02.046Z,1773391022.046 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T08:37:03.880Z,1773391023.880 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T08:37:20.267Z,1773391040.267 [NAL9602](INFO): SBD MO Status=1, MOMSN=32766, MT Status=0, MTMSN=0
2026-03-13T08:37:20.320Z,1773391040.320 [NAL9602](INFO): Sent 332 bytes from file Logs/20260313T044322/Express0022.lzma
2026-03-13T08:37:20.320Z,1773391040.320 [NAL9602](INFO): Packets left to send: 1
2026-03-13T08:37:30.024Z,1773391050.024 [NAL9602](INFO): SBD MO Status=1, MOMSN=32767, MT Status=0, MTMSN=0
2026-03-13T08:37:30.073Z,1773391050.073 [NAL9602](INFO): Sent 25 bytes from file Logs/20260313T044322/Express0022.lzma
2026-03-13T08:37:30.073Z,1773391050.073 [NAL9602](INFO): Packets left to send: 0
2026-03-13T08:37:35.004Z,1773391055.004 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T08:37:40.183Z,1773391060.183 [NAL9602](INFO): SBD MO Status=1, MOMSN=32768, MT Status=0, MTMSN=0
2026-03-13T08:37:40.244Z,1773391060.244 [NAL9602](INFO): Sent 120 bytes from file Logs/20260313T044322/Express0025.lzma
2026-03-13T08:37:40.244Z,1773391060.244 [NAL9602](INFO): Packets left to send: 0
2026-03-13T08:37:57.558Z,1773391077.558 [NAL9602](INFO): SBD MO Status=0, MOMSN=32769, MT Status=0, MTMSN=0
2026-03-13T08:37:57.644Z,1773391077.644 [Default:CheckIn:Read_Iridium] Stopped
2026-03-13T08:37:57.645Z,1773391077.645 [Default:CheckIn:C.Wait] Running Loop=1
2026-03-13T08:37:57.645Z,1773391077.645 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2026-03-13T08:38:06.161Z,1773391086.161 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T08:38:14.532Z,1773391094.532 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003157
2026-03-13T08:38:28.261Z,1773391108.261 [NAL9602](INFO): Not Powering down - fast GPS
2026-03-13T08:42:58.174Z,1773391378.174 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2026-03-13T08:42:58.174Z,1773391378.174 [Default:CheckIn:C.Wait] Stopped
2026-03-13T08:42:58.174Z,1773391378.174 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2026-03-13T08:42:58.175Z,1773391378.175 [Default:CheckIn:D] Running Loop=1
2026-03-13T08:42:58.555Z,1773391378.555 [Default:CheckIn:D] Stopped
2026-03-13T08:42:58.555Z,1773391378.555 [Default:CheckIn:E] Running Loop=1
2026-03-13T08:42:58.963Z,1773391378.963 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  7.204450 min 
2026-03-13T08:42:58.963Z,1773391378.963 [Default:CheckIn:E] Stopped
2026-03-13T08:42:58.963Z,1773391378.963 [Default:CheckIn](INFO): Completed Default:CheckIn
2026-03-13T08:42:58.963Z,1773391378.963 [Default:CheckIn] Stopped
2026-03-13T08:42:58.963Z,1773391378.963 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2026-03-13T08:42:58.963Z,1773391378.963 [Default:CheckIn](INFO): Running loop #2
2026-03-13T08:42:58.963Z,1773391378.963 [Default:CheckIn] Running Loop=2
2026-03-13T08:42:58.964Z,1773391378.964 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2026-03-13T08:42:58.964Z,1773391378.964 [Default:CheckIn:Read_GPS] Running Loop=1
2026-03-13T08:43:00.965Z,1773391380.965 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,084300.00,A,3648.04419,N,12150.51536,W,0.292,32.26,130326,,,D*4D
2026-03-13T08:43:00.976Z,1773391380.976 [NAL9602](INFO): GPS fix at 20260313T084300: (36.800736, -121.841923)
2026-03-13T08:43:00.987Z,1773391380.987 [Default:CheckIn:Read_GPS] Stopped
2026-03-13T08:43:00.987Z,1773391380.987 [Default:CheckIn:Read_Iridium] Running Loop=1
2026-03-13T08:43:08.755Z,1773391388.755 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20260313T044322/Courier0027.lzma
2026-03-13T08:43:09.757Z,1773391389.757 [DataOverHttps](INFO): Moved sent file to Logs/20260313T044322/Courier0027.lzma.bak
2026-03-13T08:43:09.757Z,1773391389.757 [DataOverHttps](INFO): SBD MOMSN=26731077
2026-03-13T08:43:16.318Z,1773391396.318 [NAL9602](INFO): SBD MO Status=0, MOMSN=32770, MT Status=0, MTMSN=0
2026-03-13T08:43:16.318Z,1773391396.318 [NAL9602](INFO): No messages in MT queue
2026-03-13T08:43:25.571Z,1773391405.571 [DataOverHttps](INFO): Sending 173 bytes from file Logs/20260313T044322/Express0028.lzma
2026-03-13T08:43:26.573Z,1773391406.573 [DataOverHttps](INFO): Moved sent file to Logs/20260313T044322/Express0028.lzma.bak
2026-03-13T08:43:26.573Z,1773391406.573 [DataOverHttps](INFO): SBD MOMSN=26731080
2026-03-13T08:43:28.052Z,1773391408.052 [Default:CheckIn:Read_Iridium] Stopped
2026-03-13T08:43:28.052Z,1773391408.052 [Default:CheckIn:C.Wait] Running Loop=1
2026-03-13T08:43:28.052Z,1773391408.052 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2026-03-13T08:43:47.024Z,1773391427.024 [NAL9602](INFO): Not Powering down - fast GPS
2026-03-13T08:48:28.627Z,1773391708.627 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2026-03-13T08:48:28.628Z,1773391708.628 [Default:CheckIn:C.Wait] Stopped
2026-03-13T08:48:28.628Z,1773391708.628 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2026-03-13T08:48:28.628Z,1773391708.628 [Default:CheckIn:D] Running Loop=1
2026-03-13T08:48:29.032Z,1773391709.032 [Default:CheckIn:D] Stopped
2026-03-13T08:48:29.033Z,1773391709.033 [Default:CheckIn:E] Running Loop=1
2026-03-13T08:48:29.426Z,1773391709.426 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  12.712408 min 
2026-03-13T08:48:29.426Z,1773391709.426 [Default:CheckIn:E] Stopped
2026-03-13T08:48:29.426Z,1773391709.426 [Default:CheckIn](INFO): Completed Default:CheckIn
2026-03-13T08:48:29.426Z,1773391709.426 [Default:CheckIn] Stopped
2026-03-13T08:48:29.427Z,1773391709.427 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2026-03-13T08:48:29.427Z,1773391709.427 [Default:CheckIn](INFO): Running loop #3
2026-03-13T08:48:29.427Z,1773391709.427 [Default:CheckIn] Running Loop=3
2026-03-13T08:48:29.427Z,1773391709.427 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2026-03-13T08:48:29.427Z,1773391709.427 [Default:CheckIn:Read_GPS] Running Loop=1
2026-03-13T08:48:31.438Z,1773391711.438 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,084830.00,A,3648.09070,N,12150.50569,W,0.292,6.06,130326,,,D*7D
2026-03-13T08:48:31.440Z,1773391711.440 [NAL9602](INFO): GPS fix at 20260313T084830: (36.801512, -121.841762)
2026-03-13T08:48:31.451Z,1773391711.451 [Default:CheckIn:Read_GPS] Stopped
2026-03-13T08:48:31.451Z,1773391711.451 [Default:CheckIn:Read_Iridium] Running Loop=1
2026-03-13T08:48:38.399Z,1773391718.399 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20260313T044322/Courier0030.lzma
2026-03-13T08:48:39.401Z,1773391719.401 [DataOverHttps](INFO): Moved sent file to Logs/20260313T044322/Courier0030.lzma.bak
2026-03-13T08:48:39.401Z,1773391719.401 [DataOverHttps](INFO): SBD MOMSN=26731092
2026-03-13T08:48:43.970Z,1773391723.970 [NAL9602](INFO): SBD MO Status=0, MOMSN=32771, MT Status=0, MTMSN=0
2026-03-13T08:48:43.970Z,1773391723.970 [NAL9602](INFO): No messages in MT queue
2026-03-13T08:48:58.091Z,1773391738.091 [DataOverHttps](INFO): Sending 168 bytes from file Logs/20260313T044322/Express0031.lzma
2026-03-13T08:48:59.093Z,1773391739.093 [DataOverHttps](INFO): Moved sent file to Logs/20260313T044322/Express0031.lzma.bak
2026-03-13T08:48:59.094Z,1773391739.094 [DataOverHttps](INFO): SBD MOMSN=26731095
2026-03-13T08:49:00.589Z,1773391740.589 [Default:CheckIn:Read_Iridium] Stopped
2026-03-13T08:49:00.589Z,1773391740.589 [Default:CheckIn:C.Wait] Running Loop=1
2026-03-13T08:49:00.589Z,1773391740.589 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2026-03-13T08:49:14.713Z,1773391754.713 [NAL9602](INFO): Not Powering down - fast GPS
2026-03-13T08:54:01.163Z,1773392041.163 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2026-03-13T08:54:01.163Z,1773392041.163 [Default:CheckIn:C.Wait] Stopped
2026-03-13T08:54:01.163Z,1773392041.163 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2026-03-13T08:54:01.163Z,1773392041.163 [Default:CheckIn:D] Running Loop=1
2026-03-13T08:54:01.625Z,1773392041.625 [Default:CheckIn:D] Stopped
2026-03-13T08:54:01.625Z,1773392041.625 [Default:CheckIn:E] Running Loop=1
2026-03-13T08:54:01.992Z,1773392041.992 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  18.255619 min 
2026-03-13T08:54:01.995Z,1773392041.995 [Default:CheckIn:E] Stopped
2026-03-13T08:54:01.995Z,1773392041.995 [Default:CheckIn](INFO): Completed Default:CheckIn
2026-03-13T08:54:01.996Z,1773392041.996 [Default:CheckIn] Stopped
2026-03-13T08:54:01.996Z,1773392041.996 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2026-03-13T08:54:01.996Z,1773392041.996 [Default:CheckIn](INFO): Running loop #4
2026-03-13T08:54:01.996Z,1773392041.996 [Default:CheckIn] Running Loop=4
2026-03-13T08:54:01.996Z,1773392041.996 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2026-03-13T08:54:01.996Z,1773392041.996 [Default:CheckIn:Read_GPS] Running Loop=1
2026-03-13T08:54:03.990Z,1773392043.990 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,085403.00,A,3648.13615,N,12150.50791,W,0.680,1.23,130326,,,D*7C
2026-03-13T08:54:03.993Z,1773392043.993 [NAL9602](INFO): GPS fix at 20260313T085403: (36.802269, -121.841798)
2026-03-13T08:54:04.003Z,1773392044.003 [Default:CheckIn:Read_GPS] Stopped
2026-03-13T08:54:04.004Z,1773392044.004 [Default:CheckIn:Read_Iridium] Running Loop=1
2026-03-13T08:54:11.423Z,1773392051.423 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20260313T044322/Courier0033.lzma
2026-03-13T08:54:12.425Z,1773392052.425 [DataOverHttps](INFO): Moved sent file to Logs/20260313T044322/Courier0033.lzma.bak
2026-03-13T08:54:12.425Z,1773392052.425 [DataOverHttps](INFO): SBD MOMSN=26731139
2026-03-13T08:54:18.522Z,1773392058.522 [NAL9602](INFO): SBD MO Status=0, MOMSN=32772, MT Status=0, MTMSN=0
2026-03-13T08:54:18.522Z,1773392058.522 [NAL9602](INFO): No messages in MT queue
2026-03-13T08:54:28.179Z,1773392068.179 [DataOverHttps](INFO): Sending 171 bytes from file Logs/20260313T044322/Express0034.lzma
2026-03-13T08:54:29.184Z,1773392069.184 [DataOverHttps](INFO): Moved sent file to Logs/20260313T044322/Express0034.lzma.bak
2026-03-13T08:54:29.184Z,1773392069.184 [DataOverHttps](INFO): SBD MOMSN=26731142
2026-03-13T08:54:30.659Z,1773392070.659 [Default:CheckIn:Read_Iridium] Stopped
2026-03-13T08:54:30.659Z,1773392070.659 [Default:CheckIn:C.Wait] Running Loop=1
2026-03-13T08:54:30.659Z,1773392070.659 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2026-03-13T08:54:49.220Z,1773392089.220 [NAL9602](INFO): Not Powering down - fast GPS
2026-03-13T08:59:31.223Z,1773392371.223 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2026-03-13T08:59:31.223Z,1773392371.223 [Default:CheckIn:C.Wait] Stopped
2026-03-13T08:59:31.223Z,1773392371.223 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2026-03-13T08:59:31.224Z,1773392371.224 [Default:CheckIn:D] Running Loop=1
2026-03-13T08:59:31.637Z,1773392371.637 [Default:CheckIn:D] Stopped
2026-03-13T08:59:31.637Z,1773392371.637 [Default:CheckIn:E] Running Loop=1
2026-03-13T08:59:32.036Z,1773392372.036 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  23.755817 min 
2026-03-13T08:59:32.036Z,1773392372.036 [Default:CheckIn:E] Stopped
2026-03-13T08:59:32.036Z,1773392372.036 [Default:CheckIn](INFO): Completed Default:CheckIn
2026-03-13T08:59:32.036Z,1773392372.036 [Default:CheckIn] Stopped
2026-03-13T08:59:32.036Z,1773392372.036 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2026-03-13T08:59:32.036Z,1773392372.036 [Default:CheckIn](INFO): Running loop #5
2026-03-13T08:59:32.037Z,1773392372.037 [Default:CheckIn] Running Loop=5
2026-03-13T08:59:32.037Z,1773392372.037 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2026-03-13T08:59:32.037Z,1773392372.037 [Default:CheckIn:Read_GPS] Running Loop=1
2026-03-13T08:59:34.049Z,1773392374.049 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,085933.00,A,3648.18040,N,12150.51401,W,0.855,325.23,130326,,,D*77
2026-03-13T08:59:34.051Z,1773392374.051 [NAL9602](INFO): GPS fix at 20260313T085933: (36.803007, -121.841900)
2026-03-13T08:59:34.062Z,1773392374.062 [Default:CheckIn:Read_GPS] Stopped
2026-03-13T08:59:34.062Z,1773392374.062 [Default:CheckIn:Read_Iridium] Running Loop=1
2026-03-13T08:59:41.451Z,1773392381.451 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20260313T044322/Courier0036.lzma
2026-03-13T08:59:42.453Z,1773392382.453 [DataOverHttps](INFO): Moved sent file to Logs/20260313T044322/Courier0036.lzma.bak
2026-03-13T08:59:42.453Z,1773392382.453 [DataOverHttps](INFO): SBD MOMSN=26731153
2026-03-13T08:59:49.821Z,1773392389.821 [NAL9602](INFO): SBD MO Status=0, MOMSN=32773, MT Status=0, MTMSN=0
2026-03-13T08:59:49.822Z,1773392389.822 [NAL9602](INFO): No messages in MT queue
2026-03-13T08:59:58.219Z,1773392398.219 [DataOverHttps](INFO): Sending 168 bytes from file Logs/20260313T044322/Express0037.lzma
2026-03-13T08:59:59.221Z,1773392399.221 [DataOverHttps](INFO): Moved sent file to Logs/20260313T044322/Express0037.lzma.bak
2026-03-13T08:59:59.221Z,1773392399.221 [DataOverHttps](INFO): SBD MOMSN=26731158
2026-03-13T09:00:00.726Z,1773392400.726 [Default:CheckIn:Read_Iridium] Stopped
2026-03-13T09:00:00.726Z,1773392400.726 [Default:CheckIn:C.Wait] Running Loop=1
2026-03-13T09:00:00.726Z,1773392400.726 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2026-03-13T09:00:20.500Z,1773392420.500 [NAL9602](INFO): Not Powering down - fast GPS
2026-03-13T09:04:28.213Z,1773392668.213 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-03-13T09:05:01.290Z,1773392701.290 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2026-03-13T09:05:01.290Z,1773392701.290 [Default:CheckIn:C.Wait] Stopped
2026-03-13T09:05:01.291Z,1773392701.291 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2026-03-13T09:05:01.291Z,1773392701.291 [Default:CheckIn:D] Running Loop=1
2026-03-13T09:05:01.695Z,1773392701.695 [Default:CheckIn:D] Stopped
2026-03-13T09:05:01.695Z,1773392701.695 [Default:CheckIn:E] Running Loop=1
2026-03-13T09:05:02.109Z,1773392702.109 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  29.256781 min 
2026-03-13T09:05:02.109Z,1773392702.109 [Default:CheckIn:E] Stopped
2026-03-13T09:05:02.109Z,1773392702.109 [Default:CheckIn](INFO): Completed Default:CheckIn
2026-03-13T09:05:02.109Z,1773392702.109 [Default:CheckIn] Stopped
2026-03-13T09:05:02.109Z,1773392702.109 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2026-03-13T09:05:02.109Z,1773392702.109 [Default:CheckIn](INFO): Running loop #6
2026-03-13T09:05:02.109Z,1773392702.109 [Default:CheckIn] Running Loop=6
2026-03-13T09:05:02.109Z,1773392702.109 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2026-03-13T09:05:02.109Z,1773392702.109 [Default:CheckIn:Read_GPS] Running Loop=1
2026-03-13T09:05:04.110Z,1773392704.110 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,090503.00,A,3648.22577,N,12150.52866,W,1.030,349.36,130326,,,D*7E
2026-03-13T09:05:04.113Z,1773392704.113 [NAL9602](INFO): GPS fix at 20260313T090503: (36.803763, -121.842144)
2026-03-13T09:05:04.139Z,1773392704.139 [Default:CheckIn:Read_GPS] Stopped
2026-03-13T09:05:04.140Z,1773392704.140 [Default:CheckIn:Read_Iridium] Running Loop=1
2026-03-13T09:05:11.507Z,1773392711.507 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20260313T044322/Courier0039.lzma
2026-03-13T09:05:12.189Z,1773392712.189 [NAL9602](INFO): SBD MO Status=0, MOMSN=32774, MT Status=0, MTMSN=0
2026-03-13T09:05:12.189Z,1773392712.189 [NAL9602](INFO): No messages in MT queue
2026-03-13T09:05:12.509Z,1773392712.509 [DataOverHttps](INFO): Moved sent file to Logs/20260313T044322/Courier0039.lzma.bak
2026-03-13T09:05:12.509Z,1773392712.509 [DataOverHttps](INFO): SBD MOMSN=26731218
2026-03-13T09:05:20.901Z,1773392720.901 [DataOverHttps](IMPORTANT): SBD MTMSN=20260313T090520
2026-03-13T09:05:28.443Z,1773392728.443 [DataOverHttps](INFO): Sending 176 bytes from file Logs/20260313T044322/Express0040.lzma
2026-03-13T09:05:28.446Z,1773392728.446 [DataOverHttps](INFO): Received command: resume;schedule resume
2026-03-13T09:05:28.518Z,1773392728.518 [CommandExec](IMPORTANT): got command resume
2026-03-13T09:05:28.518Z,1773392728.518 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2026-03-13T09:05:28.519Z,1773392728.519 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2026-03-13T09:05:28.521Z,1773392728.521 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2026-03-13T09:05:29.828Z,1773392729.828 [DataOverHttps](INFO): Moved sent file to Logs/20260313T044322/Express0040.lzma.bak
2026-03-13T09:05:29.828Z,1773392729.828 [DataOverHttps](INFO): SBD MOMSN=26731223
2026-03-13T09:05:30.051Z,1773392730.051 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/keepstation.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="keepstation">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>0.75</Value>
    </DefineArg>
    <DefineArg Name="Radius">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="SinkOffSurface">
        <False />
    </DefineArg>
    <DefineArg Name="SinkDepth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SinkDepthTimeout">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineOutput Name="DiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DoingComms">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="SurfaceSink">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="TransitToStation">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="StationKeep">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <DefineOutput Name="OnStation">
        <False />
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Pitch>
        <Parallel />
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="SurfaceComms">
        <When>
            <Called />
            <Or>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedCommsTime" />
                </Gt>
            </Or>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="DoingComms" />
        </Assign>
        <Call RefId="NeedComms" PriorityHere="false" />
        <Aggregate Id="HandleNan">
            <Sequence />
            <Break>
                <Not>
                    <IsNaN>
                        <Arg Name="Latitude" />
                    </IsNaN>
                </Not>
                <And>
                    <Not>
                        <IsNaN>
                            <Arg Name="Longitude" />
                        </IsNaN>
                    </Not>
                </And>
            </Break>
            <Aggregate Id="SetOnStation">
                <Sequence />
                <Break>
                    <Not>
                        <IsNaN>
                            <Arg Name="Latitude" />
                        </IsNaN>
                    </Not>
                    <Or>
                        <Not>
                            <IsNaN>
                                <Arg Name="Longitude" />
                            </IsNaN>
                        </Not>
                    </Or>
                </Break>
                <Assign>
                    <Sequence />
                    <Arg Name="OnStation" />
                    <True />
                </Assign>
            </Aggregate>
            <Aggregate Id="SetLat">
                <Sequence />
                <Break>
                    <Not>
                        <IsNaN>
                            <Arg Name="Latitude" />
                        </IsNaN>
                    </Not>
                </Break>
                <Assign>
                    <Sequence />
                    <Arg Name="Latitude" />
                    <Universal:latitude_fix />
                </Assign>
            </Aggregate>
            <Aggregate Id="SetLon">
                <Sequence />
                <Break>
                    <Not>
                        <IsNaN>
                            <Arg Name="Longitude" />
                        </IsNaN>
                    </Not>
                </Break>
                <Assign>
                    <Sequence />
                    <Arg Name="Longitude" />
                    <Universal:longitude_fix />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="setTransit">
            <Sequence />
            <Break>
                <Arg Name="SinkOffSurface" />
                <Or>
                    <Arg Name="OnStation" />
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="TransitToStation" />
            </Assign>
        </Aggregate>
        <Aggregate Id="setStation">
            <Sequence />
            <Break>
                <Arg Name="SinkOffSurface" />
                <Or>
                    <Not>
                        <Arg Name="OnStation" />
                    </Not>
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="StationKeep" />
            </Assign>
        </Aggregate>
        <Aggregate Id="setSink">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="SinkOffSurface" />
                </Not>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="SurfaceSink" />
            </Assign>
        </Aggregate>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="StartingMission" PriorityHere="false" />
    <Aggregate Id="DiveCmd">
        <When>
            <Called />
        </When>
        <Aggregate Id="SurfaceSink">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SurfaceSink" />
                </Eq>
            </While>
            <Aggregate Id="sink">
                <Sequence />
                <Guidance:Buoyancy Id="BuoyancyHold">
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Units:cubic_centimeter />
                        <Value>NaN</Value>
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Units:meter_per_second />
                        <Value>0</Value>
                    </Setting>
                </Guidance:SetSpeed>
                <Syslog Severity="Info">
                    Sinking to 
                    <Arg Name="SinkDepth" />
                    <Units:meter />
                </Syslog>
                <Guidance:Pitch>
                    <Sequence />
                    <Timeout Duration="SinkDepthTimeout">
                        <Syslog Severity="Important">
                            Timed out while trying to reach target sink depth at current depth of 
                            <Universal:depth />
                            <Units:meter />
                        </Syslog>
                    </Timeout>
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="SinkDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Aggregate Id="sinkToTransit">
                    <Sequence />
                    <Break>
                        <Arg Name="OnStation" />
                    </Break>
                    <Assign>
                        <Sequence />
                        <Arg Name="DiveMode" />
                        <Arg Name="TransitToStation" />
                    </Assign>
                </Aggregate>
                <Aggregate Id="sinkToStation">
                    <Sequence />
                    <Break>
                        <Not>
                            <Arg Name="OnStation" />
                        </Not>
                    </Break>
                    <Assign>
                        <Sequence />
                        <Arg Name="DiveMode" />
                        <Arg Name="StationKeep" />
                    </Assign>
                </Aggregate>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="TransitToStation">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="TransitToStation" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Control:VerticalControl.buoyancyNeutral />
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="ApproachDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Arg Name="Speed" />
                    </Setting>
                </Guidance:SetSpeed>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="StationKeep">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="StationKeep" />
                </Eq>
            </While>
            <Assign>
                <Parallel />
                <Control:VerticalControl.depthDeadband />
                <Arg Name="DepthDeadband" />
            </Assign>
            <Guidance:Pitch>
                <Parallel />
                <Setting>
                    <Guidance:Pitch.depth />
                    <Arg Name="Depth" />
                </Setting>
            </Guidance:Pitch>
            <Guidance:KeepStation>
                <Parallel />
                <Setting>
                    <Guidance:KeepStation.latitude />
                    <Arg Name="Latitude" />
                </Setting>
                <Setting>
                    <Guidance:KeepStation.longitude />
                    <Arg Name="Longitude" />
                </Setting>
                <Setting>
                    <Guidance:KeepStation.radius />
                    <Arg Name="Radius" />
                </Setting>
                <Setting>
                    <Guidance:KeepStation.speed />
                    <Arg Name="Speed" />
                </Setting>
            </Guidance:KeepStation>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="TransitToStation">
        <Sequence />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" PriorityHere="false" />
        </Aggregate>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
        </Guidance:Waypoint>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="StationKeep" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="OnStation" />
            <True />
        </Assign>
    </Aggregate>
    <Call RefId="NeedComms" Id="OnStation" PriorityHere="false" />
    <Aggregate Id="KeepStation">
        <Sequence />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" PriorityHere="false" />
        </Aggregate>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="MissionTimeout" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
</Mission>

2026-03-13T09:05:30.060Z,1773392730.060 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2026-03-13T09:05:30.062Z,1773392730.062 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2026-03-13T09:05:30.064Z,1773392730.064 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2026-03-13T09:05:30.066Z,1773392730.066 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2026-03-13T09:05:30.068Z,1773392730.068 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2026-03-13T09:05:30.070Z,1773392730.070 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2026-03-13T09:05:30.073Z,1773392730.073 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2026-03-13T09:05:30.075Z,1773392730.075 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2026-03-13T09:05:30.077Z,1773392730.077 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2026-03-13T09:05:30.079Z,1773392730.079 [MissionManager](INFO): DefineArg keepstation.SinkOffSurface = 0 bool
2026-03-13T09:05:30.081Z,1773392730.081 [MissionManager](INFO): DefineArg keepstation.SinkDepth = 10.000000 m
2026-03-13T09:05:30.083Z,1773392730.083 [MissionManager](INFO): DefineArg keepstation.SinkDepthTimeout = 10.000000 min
2026-03-13T09:05:30.085Z,1773392730.085 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2026-03-13T09:05:30.087Z,1773392730.087 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2026-03-13T09:05:30.089Z,1773392730.089 [MissionManager](INFO): DefineOutput keepstation.DiveMode = 0.000000 count
2026-03-13T09:05:30.091Z,1773392730.091 [MissionManager](INFO): DefineOutput keepstation.DoingComms = 0.000000 count
2026-03-13T09:05:30.094Z,1773392730.094 [MissionManager](INFO): DefineOutput keepstation.SurfaceSink = 1.000000 count
2026-03-13T09:05:30.096Z,1773392730.096 [MissionManager](INFO): DefineOutput keepstation.TransitToStation = 2.000000 count
2026-03-13T09:05:30.098Z,1773392730.098 [MissionManager](INFO): DefineOutput keepstation.StationKeep = 3.000000 count
2026-03-13T09:05:30.139Z,1773392730.139 [MissionManager](INFO): DefineOutput keepstation.OnStation = 0 bool
2026-03-13T09:05:30.140Z,1773392730.140 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2026-03-13T09:05:30.140Z,1773392730.140 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2026-03-13T09:05:30.141Z,1773392730.141 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2026-03-13T09:05:30.610Z,1773392730.610 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1500</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="DoingCommsMode">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="RestoreMode">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="IsActive">
        <False />
    </DefineOutput>
    <DefineOutput Name="RequiredDiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Aggregate Id="setActive">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="RequiredDiveMode" />
            <Arg Name="DoingCommsMode" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="IsActive" />
            <True />
        </Assign>
    </Aggregate>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <Aggregate Id="setRestoreMode">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="RequiredDiveMode" />
            <Arg Name="RestoreMode" />
        </Assign>
    </Aggregate>
    <Aggregate Id="setInactive">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="IsActive" />
            <False />
        </Assign>
    </Aggregate>
</Aggregate>

2026-03-13T09:05:30.620Z,1773392730.620 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2026-03-13T09:05:30.622Z,1773392730.622 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2026-03-13T09:05:30.624Z,1773392730.624 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2026-03-13T09:05:30.626Z,1773392730.626 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2026-03-13T09:05:30.629Z,1773392730.629 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2026-03-13T09:05:30.631Z,1773392730.631 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1500.000000 s
2026-03-13T09:05:30.633Z,1773392730.633 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2026-03-13T09:05:30.635Z,1773392730.635 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2026-03-13T09:05:30.637Z,1773392730.637 [MissionManager](INFO): DefineArg keepstation:NeedComms.DoingCommsMode = 0.000000 count
2026-03-13T09:05:30.640Z,1773392730.640 [MissionManager](INFO): DefineArg keepstation:NeedComms.RestoreMode = 0.000000 count
2026-03-13T09:05:30.642Z,1773392730.642 [MissionManager](INFO): DefineOutput keepstation:NeedComms.IsActive = 0 bool
2026-03-13T09:05:30.644Z,1773392730.644 [MissionManager](INFO): DefineOutput keepstation:NeedComms.RequiredDiveMode = 0.000000 count
2026-03-13T09:05:30.653Z,1773392730.653 [keepstation:NeedComms:C.GoToSurface](DEBUG): Construct GoToSurface.
2026-03-13T09:05:30.712Z,1773392730.712 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2026-03-13T09:05:30.712Z,1773392730.712 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2026-03-13T09:05:30.713Z,1773392730.713 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2026-03-13T09:05:30.873Z,1773392730.873 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2026-03-13T09:05:30.877Z,1773392730.877 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2026-03-13T09:05:30.879Z,1773392730.879 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2026-03-13T09:05:30.881Z,1773392730.881 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2026-03-13T09:05:30.883Z,1773392730.883 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2026-03-13T09:05:30.884Z,1773392730.884 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2026-03-13T09:05:30.915Z,1773392730.915 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2026-03-13T09:05:30.921Z,1773392730.921 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2026-03-13T09:05:30.931Z,1773392730.931 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2026-03-13T09:05:30.932Z,1773392730.932 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2026-03-13T09:05:30.933Z,1773392730.933 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2026-03-13T09:05:30.966Z,1773392730.966 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2026-03-13T09:05:30.970Z,1773392730.970 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2026-03-13T09:05:30.972Z,1773392730.972 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2026-03-13T09:05:30.974Z,1773392730.974 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2026-03-13T09:05:30.974Z,1773392730.974 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2026-03-13T09:05:30.976Z,1773392730.976 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2026-03-13T09:05:31.084Z,1773392731.084 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2026-03-13T09:05:31.088Z,1773392731.088 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2026-03-13T09:05:31.090Z,1773392731.090 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2026-03-13T09:05:31.092Z,1773392731.092 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2026-03-13T09:05:31.094Z,1773392731.094 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2026-03-13T09:05:31.118Z,1773392731.118 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 0 bool
2026-03-13T09:05:31.124Z,1773392731.124 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2026-03-13T09:05:31.126Z,1773392731.126 [keepstation:H.Pitch](DEBUG): Construct.
2026-03-13T09:05:31.192Z,1773392731.192 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2026-03-13T09:05:31.194Z,1773392731.194 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2026-03-13T09:05:31.218Z,1773392731.218 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2026-03-13T09:05:31.245Z,1773392731.245 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Construct Buoyancy.
2026-03-13T09:05:31.248Z,1773392731.248 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Construct.
2026-03-13T09:05:31.255Z,1773392731.255 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Construct.
2026-03-13T09:05:31.260Z,1773392731.260 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Construct.
2026-03-13T09:05:31.264Z,1773392731.264 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Construct KeepStation.
2026-03-13T09:05:31.271Z,1773392731.271 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2026-03-13T09:05:31.282Z,1773392731.282 [keepstation:KeepStation:B.Wait](DEBUG): Construct Wait.
2026-03-13T09:05:31.298Z,1773392731.298 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission keepstation {
  """
  Vehicle transits to desired waypoint (or stays put if none is commanded)
  and stays within the specified radius.
  """

  arguments {
    MissionTimeout = 4 hour
      """
      Maximum duration of mission
      """

    NeedCommsTime = 45 minute
      """
      How often to surface for communications
      """

    Latitude = NaN degree
      """
      Latitude of waypoint to hold. If NaN, hold the latitude at start of
      mission.
      """

    Longitude = NaN degree
      """
      Longitude of waypoint to hold. If NaN, hold the longitude at start of
      mission.
      """

    Depth = 30 meter
      """
      Depth held during drift mode
      """

    ApproachDepth = 15 meter
      """
      Depth for initial approach to station.
      """

    DepthDeadband = 4 meter
      """
      How much vertical drift from the specified depth is allowed in drift
      mode
      """

    Speed = 0.75 meter_per_second
      """
      Vehicle transit speed.
      """

    Radius = 200 meter
      """
      Radius of circle around waypoint to hold.
      """

    SinkOffSurface = false
      """
      If true, use buoyancy only to decend to SinkDepth before driving to first target depth
      """

    SinkDepth = 10 meter
      """
      Initial depth to decend using only buoyancy before driving
      """

    SinkDepthTimeout = 10 minute
      """
      Max wait time for the vehicle to reach the target depth
      """

    MaxDepth = 45 meter
      """
      Maximum allowable depth during the mission.
      """

    MinOffshore = 2 kilometer
      """
      Minimum distance from the shoreline to maintain
      """
  }

  output {
    DiveMode = 0 count
      """
      Mission variable (don't change). The mission sets this variable to
      switch between dive modes. Initialized to DoingComms.
      """

    DoingComms = 0 count
      """
      Mission variable (don't change). The mission will run in this mode
      when doing surface comms.
      """

    SurfaceSink = 1 count
      """
      Mission variable (don't change). The mission will run in this mode
      when sinking from the surface using only buoyancy.
      """

    TransitToStation = 2 count
      """
      Mission variable (don't change). The mission will run in this mode
      when performing the transit to station
      """

    StationKeep = 3 count
      """
      Mission variable (don't change). The mission will run in this mode
      when keeping station
      """

    OnStation = false
      """
      Mission variable (don't change). Determines last mode (Transit or StationKeep)
      to resume after needcomms
      """
  }

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  behavior Guidance:Pitch {
    run in parallel

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate SurfaceComms {
    run when (
      called
      or ( elapsed ( Universal:time_fix ) > NeedCommsTime )
    )

    assign in sequence DiveMode = DoingComms

    call priorityHere=false refId="NeedComms"

    aggregate HandleNan {
      run in sequence

      break if (
        not isNaN ( Latitude )
        and not isNaN ( Longitude )
      )

      # If both lat and lon are nan, we are implicitly on station and should skip initial transit, so force OnStation to true
      aggregate SetOnStation {
        run in sequence

        break if (
          not isNaN ( Latitude )
          or not isNaN ( Longitude )
        )

        assign in sequence OnStation = true
      }

      # The "assigns" here mean we should only ever run these aggregates once
      # An initial NaN lat/lon should be set here during the initial surface NeedComms call
      # Use the most recent fix -- if there isn't one, the keepstation behavior will use Universal:lat/lon
      aggregate SetLat {
        run in sequence

        break if ( not isNaN ( Latitude ) )

        assign in sequence Latitude = Universal:latitude_fix
      }

      aggregate SetLon {
        run in sequence

        break if ( not isNaN ( Longitude ) )

        assign in sequence Longitude = Universal:longitude_fix
      }
    }

    aggregate setTransit {
      run in sequence

      break if (
        SinkOffSurface
        or OnStation
      )

      assign in sequence DiveMode = TransitToStation
    }

    aggregate setStation {
      run in sequence

      break if (
        SinkOffSurface
        or not OnStation
      )

      assign in sequence DiveMode = StationKeep
    }

    aggregate setSink {
      run in sequence

      break if ( not SinkOffSurface )

      assign in sequence DiveMode = SurfaceSink
    }
  }

  call id="StartingMission" priorityHere=false refId="SurfaceComms"

  aggregate DiveCmd {
    run when ( called )

    aggregate SurfaceSink {
      run while ( DiveMode == SurfaceSink )

      aggregate sink {
        run in sequence

        behavior Guidance:Buoyancy id="BuoyancyHold" {
          run in parallel

          set position = NaN cc
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = 0 m/s
        }

        syslog info "Sinking to " + SinkDepth~meter

        behavior Guidance:Pitch {
          run in sequence

          timeout duration=SinkDepthTimeout {
            syslog important "Timed out while trying to reach target sink depth at current depth of "
                 + Universal:depth~meter
          }

          set depth = SinkDepth
        }

        # Once we've sunk, either resume transit or station keeping depths and speeds
        aggregate sinkToTransit {
          run in sequence

          break if ( OnStation )

          assign in sequence DiveMode = TransitToStation
        }

        aggregate sinkToStation {
          run in sequence

          break if ( not OnStation )

          assign in sequence DiveMode = StationKeep
        }
      }
    }

    aggregate TransitToStation {
      run while ( DiveMode == TransitToStation )

      aggregate dive {
        run in sequence

        behavior Guidance:Buoyancy {
          run in parallel

          set position = Control:VerticalControl.buoyancyNeutral
        }

        behavior Guidance:Pitch {
          run in parallel

          set depth = ApproachDepth
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = Speed
        }
      }
    }

    aggregate StationKeep {
      run while ( DiveMode == StationKeep )

      assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband

      behavior Guidance:Pitch {
        run in parallel

        set depth = Depth
      }

      behavior Guidance:KeepStation {
        run in parallel

        set latitude = Latitude
        set longitude = Longitude
        set radius = Radius
        set speed = Speed
      }
    }
  }

  aggregate TransitToStation {
    """
    Need a separate aggregate for transit if we want to specify a
    different depth for the approach.
    """

    run in sequence

    aggregate Dive {
      run while ( not ( DiveMode == DoingComms ) )

      call priorityHere=false refId="DiveCmd"
    }

    behavior Guidance:Waypoint id="Wpt1" {
      run in sequence

      set latitude = Latitude
      set longitude = Longitude
    }

    assign in sequence DiveMode = StationKeep
    assign in sequence OnStation = true
  }

  call id="OnStation" priorityHere=false refId="NeedComms"

  aggregate KeepStation {
    run in sequence

    aggregate Dive {
      run while ( not ( DiveMode == DoingComms ) )

      call priorityHere=false refId="DiveCmd"
    }

    behavior Guidance:Wait {
      """
      Due to the way the KeepStation behavior is currently
      implemented, we must run it in parallel and use a Wait to keep
      from completing the mission before the timeout expires. However,
      this new version of the mission uses a top-level timeout so that
      the entire mission will not run for longer then MissionTimeout.
      """

      run in sequence

      set duration = MissionTimeout
    }
  }
}


2026-03-13T09:05:31.303Z,1773392731.303 [MissionManager](IMPORTANT): Resuming from info in Logs/20260313T044322/Transport_keepstation_tl.state
2026-03-13T09:05:31.339Z,1773392731.339 [MissionManager](INFO): Startup->null/0
2026-03-13T09:05:31.339Z,1773392731.339 [MissionManager](INFO): Startup:StartupSatComms->null/0
2026-03-13T09:05:31.340Z,1773392731.340 [MissionManager](INFO): Default->Default:CheckIn/0
2026-03-13T09:05:31.340Z,1773392731.340 [MissionManager](INFO): Default:A.Wait->null/0
2026-03-13T09:05:31.341Z,1773392731.341 [MissionManager](INFO): Default:B.GoToSurface->null/0
2026-03-13T09:05:31.341Z,1773392731.341 [MissionManager](INFO): Default:CheckIn->Default:CheckIn:Read_Iridium/5
2026-03-13T09:05:31.341Z,1773392731.341 [MissionManager](INFO): Default:CheckIn:Read_GPS->null/0
2026-03-13T09:05:31.342Z,1773392731.342 [MissionManager](INFO): Default:CheckIn:Read_Iridium->null/0
2026-03-13T09:05:31.342Z,1773392731.342 [MissionManager](INFO): Default:CheckIn:C.Wait->null/0
2026-03-13T09:05:31.342Z,1773392731.342 [MissionManager](INFO): Default:CheckIn:D->null/0
2026-03-13T09:05:31.343Z,1773392731.343 [MissionManager](INFO): Default:CheckIn:E->null/0
2026-03-13T09:05:31.343Z,1773392731.343 [MissionManager](INFO): keepstation->keepstation:KeepStation/0
2026-03-13T09:05:31.344Z,1773392731.344 [MissionManager](INFO): keepstation:NeedComms->keepstation:NeedComms:E/0
2026-03-13T09:05:31.344Z,1773392731.344 [MissionManager](INFO): keepstation:NeedComms:A->null/0
2026-03-13T09:05:31.344Z,1773392731.344 [MissionManager](INFO): keepstation:NeedComms:setActive->null/0
2026-03-13T09:05:31.345Z,1773392731.345 [MissionManager](INFO): keepstation:NeedComms:setActive:A->null/0
2026-03-13T09:05:31.345Z,1773392731.345 [MissionManager](INFO): keepstation:NeedComms:setActive:B->null/0
2026-03-13T09:05:31.345Z,1773392731.345 [MissionManager](INFO): keepstation:NeedComms:C.GoToSurface->null/0
2026-03-13T09:05:31.346Z,1773392731.346 [MissionManager](INFO): keepstation:NeedComms:D->null/0
2026-03-13T09:05:31.346Z,1773392731.346 [MissionManager](INFO): keepstation:NeedComms:E->null/0
2026-03-13T09:05:31.346Z,1773392731.346 [MissionManager](INFO): keepstation:NeedComms:F->null/0
2026-03-13T09:05:31.347Z,1773392731.347 [MissionManager](INFO): keepstation:NeedComms:setRestoreMode->null/0
2026-03-13T09:05:31.347Z,1773392731.347 [MissionManager](INFO): keepstation:NeedComms:setRestoreMode:A->null/0
2026-03-13T09:05:31.348Z,1773392731.348 [MissionManager](INFO): keepstation:NeedComms:setInactive->null/0
2026-03-13T09:05:31.348Z,1773392731.348 [MissionManager](INFO): keepstation:NeedComms:setInactive:A->null/0
2026-03-13T09:05:31.348Z,1773392731.348 [MissionManager](INFO): keepstation:B->null/0
2026-03-13T09:05:31.349Z,1773392731.349 [MissionManager](INFO): keepstation:D->null/0
2026-03-13T09:05:31.349Z,1773392731.349 [MissionManager](INFO): keepstation:E->null/0
2026-03-13T09:05:31.349Z,1773392731.349 [MissionManager](INFO): keepstation:BackseatDriver->keepstation:BackseatDriver:A.BackseatDriver/0
2026-03-13T09:05:31.350Z,1773392731.350 [MissionManager](INFO): keepstation:BackseatDriver:A.BackseatDriver->null/0
2026-03-13T09:05:31.350Z,1773392731.350 [MissionManager](INFO): keepstation:PowerOnly->keepstation:PowerOnly:E.Wait/0
2026-03-13T09:05:31.350Z,1773392731.350 [MissionManager](INFO): keepstation:PowerOnly:E.Wait->null/0
2026-03-13T09:05:31.351Z,1773392731.351 [MissionManager](INFO): keepstation:SurfaceComms->keepstation:SurfaceComms:B/0
2026-03-13T09:05:31.351Z,1773392731.351 [MissionManager](INFO): keepstation:SurfaceComms:A->null/0
2026-03-13T09:05:31.352Z,1773392731.352 [MissionManager](INFO): keepstation:SurfaceComms:B->null/0
2026-03-13T09:05:31.352Z,1773392731.352 [MissionManager](INFO): keepstation:SurfaceComms:HandleNan->keepstation:SurfaceComms:HandleNan:SetOnStation/0
2026-03-13T09:05:31.353Z,1773392731.353 [MissionManager](INFO): keepstation:SurfaceComms:HandleNan:SetOnStation->keepstation:SurfaceComms:HandleNan:SetOnStation:A/0
2026-03-13T09:05:31.353Z,1773392731.353 [MissionManager](INFO): keepstation:SurfaceComms:HandleNan:SetOnStation:A->null/0
2026-03-13T09:05:31.353Z,1773392731.353 [MissionManager](INFO): keepstation:SurfaceComms:setTransit->keepstation:SurfaceComms:setTransit:A/0
2026-03-13T09:05:31.354Z,1773392731.354 [MissionManager](INFO): keepstation:SurfaceComms:setTransit:A->null/0
2026-03-13T09:05:31.354Z,1773392731.354 [MissionManager](INFO): keepstation:SurfaceComms:setStation->null/0
2026-03-13T09:05:31.354Z,1773392731.354 [MissionManager](INFO): keepstation:SurfaceComms:setStation:A->null/0
2026-03-13T09:05:31.355Z,1773392731.355 [MissionManager](INFO): keepstation:SurfaceComms:setSink->keepstation:SurfaceComms:setSink:A/0
2026-03-13T09:05:31.372Z,1773392731.372 [MissionManager](INFO): keepstation:SurfaceComms:setSink:A->null/0
2026-03-13T09:05:31.372Z,1773392731.372 [MissionManager](INFO): keepstation:StartingMission->null/0
2026-03-13T09:05:31.373Z,1773392731.373 [MissionManager](INFO): keepstation:DiveCmd:SurfaceSink->keepstation:DiveCmd:SurfaceSink:sink/0
2026-03-13T09:05:31.373Z,1773392731.373 [MissionManager](INFO): keepstation:DiveCmd:SurfaceSink:sink->keepstation:DiveCmd:SurfaceSink:sink:C/0
2026-03-13T09:05:31.374Z,1773392731.374 [MissionManager](INFO): keepstation:DiveCmd:SurfaceSink:sink:C->null/0
2026-03-13T09:05:31.374Z,1773392731.374 [MissionManager](INFO): keepstation:DiveCmd:TransitToStation->keepstation:DiveCmd:TransitToStation:dive/0
2026-03-13T09:05:31.374Z,1773392731.374 [MissionManager](INFO): keepstation:DiveCmd:TransitToStation:dive->null/0
2026-03-13T09:05:31.375Z,1773392731.375 [MissionManager](INFO): keepstation:TransitToStation->null/0
2026-03-13T09:05:31.375Z,1773392731.375 [MissionManager](INFO): keepstation:TransitToStation:Dive->keepstation:TransitToStation:Dive:A/0
2026-03-13T09:05:31.379Z,1773392731.379 [MissionManager](INFO): keepstation:TransitToStation:Dive:A->null/0
2026-03-13T09:05:31.388Z,1773392731.388 [MissionManager](INFO): keepstation:TransitToStation:Wpt1.Waypoint->null/0
2026-03-13T09:05:31.388Z,1773392731.388 [MissionManager](INFO): keepstation:TransitToStation:C->null/0
2026-03-13T09:05:31.388Z,1773392731.388 [MissionManager](INFO): keepstation:TransitToStation:D->null/0
2026-03-13T09:05:31.389Z,1773392731.389 [MissionManager](INFO): keepstation:OnStation->null/0
2026-03-13T09:05:31.389Z,1773392731.389 [MissionManager](INFO): keepstation:KeepStation->keepstation:KeepStation:B.Wait/0
2026-03-13T09:05:31.390Z,1773392731.390 [MissionManager](INFO): keepstation:KeepStation:Dive->keepstation:KeepStation:Dive:A/0
2026-03-13T09:05:31.390Z,1773392731.390 [MissionManager](INFO): keepstation:KeepStation:Dive:A->null/0
2026-03-13T09:05:31.390Z,1773392731.390 [MissionManager](INFO): keepstation:KeepStation:B.Wait->null/0
2026-03-13T09:05:31.390Z,1773392731.390 [CommandExec](IMPORTANT): Resuming mission and schedule
2026-03-13T09:05:31.391Z,1773392731.391 [CommandExec](IMPORTANT): Scheduling is resumed
2026-03-13T09:05:31.391Z,1773392731.391 [CommandExec](IMPORTANT): Nothing is scheduled
2026-03-13T09:05:31.391Z,1773392731.391 [CommandExec](IMPORTANT): got command schedule resume
2026-03-13T09:05:31.608Z,1773392731.608 [Default] Stopped
2026-03-13T09:05:31.608Z,1773392731.608 [Default](DEBUG): Aggregate::uninitialize Default
2026-03-13T09:05:31.608Z,1773392731.608 [Default:B.GoToSurface] Stopped
2026-03-13T09:05:31.608Z,1773392731.608 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-03-13T09:05:31.608Z,1773392731.608 [Default:CheckIn] Stopped
2026-03-13T09:05:31.608Z,1773392731.608 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2026-03-13T09:05:31.608Z,1773392731.608 [Default:CheckIn:Read_Iridium] Stopped
2026-03-13T09:05:31.608Z,1773392731.608 [MissionManager](IMPORTANT): Started mission keepstation
2026-03-13T09:05:31.609Z,1773392731.609 [keepstation] Running Loop=1
2026-03-13T09:05:31.609Z,1773392731.609 [keepstation](DEBUG): Aggregate::initialize keepstation
2026-03-13T09:05:31.609Z,1773392731.609 [keepstation:StandardEnvelopes] Running Loop=1
2026-03-13T09:05:31.609Z,1773392731.609 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2026-03-13T09:05:31.609Z,1773392731.609 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2026-03-13T09:05:31.609Z,1773392731.609 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2026-03-13T09:05:31.609Z,1773392731.609 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2026-03-13T09:05:31.609Z,1773392731.609 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2026-03-13T09:05:31.610Z,1773392731.610 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2026-03-13T09:05:31.610Z,1773392731.610 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2026-03-13T09:05:31.610Z,1773392731.610 [keepstation:BackseatDriver] Running Loop=1
2026-03-13T09:05:31.610Z,1773392731.610 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2026-03-13T09:05:31.610Z,1773392731.610 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2026-03-13T09:05:31.610Z,1773392731.610 [keepstation:PowerOnly] Running Loop=1
2026-03-13T09:05:31.610Z,1773392731.610 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2026-03-13T09:05:31.610Z,1773392731.610 [keepstation:PowerOnly:A] Running Loop=1
2026-03-13T09:05:31.610Z,1773392731.610 [keepstation:PowerOnly:B] Running Loop=1
2026-03-13T09:05:31.610Z,1773392731.610 [keepstation:PowerOnly:C] Running Loop=1
2026-03-13T09:05:31.610Z,1773392731.610 [keepstation:PowerOnly:D] Running Loop=1
2026-03-13T09:05:31.611Z,1773392731.611 [keepstation:PowerOnly:E.Wait] Running Loop=1
2026-03-13T09:05:31.611Z,1773392731.611 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2026-03-13T09:05:31.611Z,1773392731.611 [keepstation:H.Pitch] Running Loop=1
2026-03-13T09:05:31.611Z,1773392731.611 [keepstation:H.Pitch](DEBUG): Initialize.
2026-03-13T09:05:31.611Z,1773392731.611 [keepstation:KeepStation] Running Loop=1
2026-03-13T09:05:31.615Z,1773392731.615 [keepstation:KeepStation](DEBUG): Aggregate::initialize keepstation:KeepStation
2026-03-13T09:05:31.615Z,1773392731.615 [keepstation:KeepStation:Dive] Running Loop=1
2026-03-13T09:05:31.616Z,1773392731.616 [keepstation:KeepStation:Dive](DEBUG): Aggregate::initialize keepstation:KeepStation:Dive
2026-03-13T09:05:31.616Z,1773392731.616 [keepstation:KeepStation:Dive:A] Running Loop=1
2026-03-13T09:05:31.616Z,1773392731.616 [keepstation:KeepStation:Dive:A](DEBUG): Aggregate::initialize keepstation:KeepStation:Dive:A
2026-03-13T09:05:31.616Z,1773392731.616 [keepstation:KeepStation:B.Wait] Running Loop=1
2026-03-13T09:05:31.616Z,1773392731.616 [keepstation:KeepStation:B.Wait](DEBUG): Initialize Wait Component.
2026-03-13T09:05:31.617Z,1773392731.617 [keepstation:KeepStation:Dive] Stopped
2026-03-13T09:05:31.617Z,1773392731.617 [keepstation:KeepStation:Dive](DEBUG): Aggregate::uninitialize keepstation:KeepStation:Dive
2026-03-13T09:05:31.617Z,1773392731.617 [keepstation:KeepStation:Dive:A] Stopped
2026-03-13T09:05:31.617Z,1773392731.617 [keepstation:KeepStation:Dive:A](DEBUG): Aggregate::uninitialize keepstation:KeepStation:Dive:A
2026-03-13T09:05:31.617Z,1773392731.617 [keepstation:DiveCmd] Running Loop=1
2026-03-13T09:05:31.617Z,1773392731.617 [keepstation:DiveCmd](DEBUG): Aggregate::initialize keepstation:DiveCmd
2026-03-13T09:05:31.618Z,1773392731.618 [keepstation:DiveCmd:SurfaceSink] Running Loop=1
2026-03-13T09:05:31.618Z,1773392731.618 [keepstation:DiveCmd:SurfaceSink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink
2026-03-13T09:05:31.618Z,1773392731.618 [keepstation:DiveCmd:SurfaceSink:sink] Running Loop=1
2026-03-13T09:05:31.618Z,1773392731.618 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink:sink
2026-03-13T09:05:31.618Z,1773392731.618 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2026-03-13T09:05:31.618Z,1773392731.618 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-03-13T09:05:31.618Z,1773392731.618 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2026-03-13T09:05:31.618Z,1773392731.618 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2026-03-13T09:05:31.618Z,1773392731.618 [keepstation:DiveCmd:SurfaceSink:sink:C] Running Loop=1
2026-03-13T09:05:31.618Z,1773392731.618 [keepstation:DiveCmd:TransitToStation] Running Loop=1
2026-03-13T09:05:31.618Z,1773392731.618 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation
2026-03-13T09:05:31.619Z,1773392731.619 [keepstation:DiveCmd:TransitToStation:dive] Running Loop=1
2026-03-13T09:05:31.619Z,1773392731.619 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation:dive
2026-03-13T09:05:31.619Z,1773392731.619 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Running Loop=1
2026-03-13T09:05:31.619Z,1773392731.619 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-03-13T09:05:31.619Z,1773392731.619 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Running Loop=1
2026-03-13T09:05:31.619Z,1773392731.619 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Initialize.
2026-03-13T09:05:31.623Z,1773392731.623 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Running Loop=1
2026-03-13T09:05:31.623Z,1773392731.623 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Initialize.
2026-03-13T09:05:31.624Z,1773392731.624 [keepstation:DiveCmd:StationKeep] Running Loop=1
2026-03-13T09:05:31.624Z,1773392731.624 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::initialize keepstation:DiveCmd:StationKeep
2026-03-13T09:05:31.624Z,1773392731.624 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2026-03-13T09:05:31.624Z,1773392731.624 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2026-03-13T09:05:31.624Z,1773392731.624 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Initialize.
2026-03-13T09:05:31.624Z,1773392731.624 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2026-03-13T09:05:31.624Z,1773392731.624 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2026-03-13T09:05:31.625Z,1773392731.625 [keepstation:DiveCmd:StationKeep] Stopped
2026-03-13T09:05:31.625Z,1773392731.625 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:StationKeep
2026-03-13T09:05:31.625Z,1773392731.625 [keepstation:DiveCmd:StationKeep:A] Stopped
2026-03-13T09:05:31.625Z,1773392731.625 [keepstation:DiveCmd:StationKeep:B.Pitch] Stopped
2026-03-13T09:05:31.625Z,1773392731.625 [keepstation:DiveCmd:StationKeep:C.KeepStation] Stopped
2026-03-13T09:05:31.625Z,1773392731.625 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2026-03-13T09:05:31.625Z,1773392731.625 [keepstation:DiveCmd:TransitToStation] Stopped
2026-03-13T09:05:31.625Z,1773392731.625 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation
2026-03-13T09:05:31.625Z,1773392731.625 [keepstation:DiveCmd:TransitToStation:dive] Stopped
2026-03-13T09:05:31.626Z,1773392731.626 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation:dive
2026-03-13T09:05:31.626Z,1773392731.626 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Stopped
2026-03-13T09:05:31.626Z,1773392731.626 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-03-13T09:05:31.626Z,1773392731.626 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Stopped
2026-03-13T09:05:31.626Z,1773392731.626 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Stopped
2026-03-13T09:05:31.626Z,1773392731.626 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Uninitialize.
2026-03-13T09:05:31.626Z,1773392731.626 [keepstation:DiveCmd:SurfaceSink] Stopped
2026-03-13T09:05:31.626Z,1773392731.626 [keepstation:DiveCmd:SurfaceSink](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink
2026-03-13T09:05:31.626Z,1773392731.626 [keepstation:DiveCmd:SurfaceSink:sink] Stopped
2026-03-13T09:05:31.626Z,1773392731.626 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink:sink
2026-03-13T09:05:31.626Z,1773392731.626 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2026-03-13T09:05:31.626Z,1773392731.626 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-03-13T09:05:31.626Z,1773392731.626 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Stopped
2026-03-13T09:05:31.627Z,1773392731.627 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2026-03-13T09:05:31.627Z,1773392731.627 [keepstation:DiveCmd:SurfaceSink:sink:C] Stopped
2026-03-13T09:05:31.627Z,1773392731.627 [keepstation:H.Pitch] Running Loop=1
2026-03-13T09:05:31.627Z,1773392731.627 [keepstation:PowerOnly] Running Loop=1
2026-03-13T09:05:31.648Z,1773392731.648 [keepstation:PowerOnly:D] Stopped
2026-03-13T09:05:31.648Z,1773392731.648 [keepstation:PowerOnly:C] Stopped
2026-03-13T09:05:31.648Z,1773392731.648 [keepstation:PowerOnly:B] Stopped
2026-03-13T09:05:31.648Z,1773392731.648 [keepstation:PowerOnly:A] Stopped
2026-03-13T09:05:31.648Z,1773392731.648 [keepstation:BackseatDriver] Running Loop=1
2026-03-13T09:05:31.649Z,1773392731.649 [keepstation:StandardEnvelopes] Running Loop=1
2026-03-13T09:05:31.649Z,1773392731.649 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2026-03-13T09:05:31.649Z,1773392731.649 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2026-03-13T09:05:31.649Z,1773392731.649 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2026-03-13T09:05:33.231Z,1773392733.231 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2026-03-13T09:05:42.892Z,1773392742.892 [NAL9602](INFO): Not Powering down - fast GPS
2026-03-13T09:05:45.383Z,1773392745.383 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20260313T044322/Courier0042.lzma
2026-03-13T09:05:46.385Z,1773392746.385 [DataOverHttps](INFO): Moved sent file to Logs/20260313T044322/Courier0042.lzma.bak
2026-03-13T09:05:46.385Z,1773392746.385 [DataOverHttps](INFO): SBD MOMSN=26731228
2026-03-13T09:16:25.531Z,1773393385.531 [BPC1](ERROR): Battery stick #17 (s/n: 0084) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2026-03-13T09:16:25.542Z,1773393385.542 [BPC1](ERROR): Battery stick #24 (s/n: 01D3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T09:16:25.542Z,1773393385.542 [BPC1](FAULT): Battery stick #29 (s/n: 00A7) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2026-03-13T09:16:25.547Z,1773393385.547 [BPC1](FAULT): Battery stick #30 (s/n: 015F) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T09:16:25.548Z,1773393385.548 [BPC1](ERROR): Battery stick #37 (s/n: 0181) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T09:16:25.549Z,1773393385.549 [BPC1](ERROR): Battery stick #38 (s/n: 01BC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T09:16:25.550Z,1773393385.550 [BPC1](ERROR): Battery stick #39 (s/n: 0189) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T09:16:25.550Z,1773393385.550 [BPC1](ERROR): Battery stick #40 (s/n: 01A4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T09:16:25.551Z,1773393385.551 [BPC1](ERROR): Battery stick #44 (s/n: 01BB) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T09:16:25.556Z,1773393385.556 [BPC1](ERROR): Battery stick #50 (s/n: 019C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T09:16:25.557Z,1773393385.557 [BPC1](ERROR): Battery stick #51 (s/n: 01D6) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T09:16:25.557Z,1773393385.557 [BPC1](ERROR): Battery stick #52 (s/n: 0160) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T09:16:25.558Z,1773393385.558 [BPC1](ERROR): Battery stick #53 (s/n: 01EE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T09:16:25.559Z,1773393385.559 [BPC1](ERROR): Battery stick #56 (s/n: 0183) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T09:16:25.563Z,1773393385.563 [BPC1](ERROR): Battery stick #57 (s/n: 019F) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T09:16:25.564Z,1773393385.564 [BPC1](ERROR): Battery stick #59 (s/n: 0184) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x5AD0.
2026-03-13T09:16:25.565Z,1773393385.565 [BPC1](INFO): Calculating totals. Valid battery stick count: 28. Valid reserve battery stick count: 2.
2026-03-13T09:16:25.573Z,1773393385.573 [BPC1](FAULT): Failed to receive data from 14 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 17, 24, 37, 38, 39, 40, 44, 50, 51, 52, 53, 56, 57, 59.
2026-03-13T09:24:37.893Z,1773393877.893 [DataOverHttps](IMPORTANT): SBD MTMSN=20260313T092437
2026-03-13T09:24:45.643Z,1773393885.643 [DataOverHttps](INFO): Received command: load Transport/keepstation.tl;set keepstation.MissionTimeout 12 h;set keepstation.NeedCommsTime 60 min;set keepstation.Latitude 36.797 degree;set keepstation.Longitude -121.847 degree;run
2026-03-13T09:24:45.717Z,1773393885.717 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2026-03-13T09:24:45.717Z,1773393885.717 [MissionManager](INFO): Uninitializing Mission keepstation
2026-03-13T09:24:45.717Z,1773393885.717 [keepstation] Stopped
2026-03-13T09:24:45.717Z,1773393885.717 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2026-03-13T09:24:45.718Z,1773393885.718 [keepstation:StandardEnvelopes] Stopped
2026-03-13T09:24:45.718Z,1773393885.718 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2026-03-13T09:24:45.718Z,1773393885.718 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2026-03-13T09:24:45.718Z,1773393885.718 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2026-03-13T09:24:45.718Z,1773393885.718 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2026-03-13T09:24:45.718Z,1773393885.718 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2026-03-13T09:24:45.718Z,1773393885.718 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2026-03-13T09:24:45.718Z,1773393885.718 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2026-03-13T09:24:45.718Z,1773393885.718 [keepstation:BackseatDriver] Stopped
2026-03-13T09:24:45.718Z,1773393885.718 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2026-03-13T09:24:45.718Z,1773393885.718 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2026-03-13T09:24:45.718Z,1773393885.718 [keepstation:PowerOnly] Stopped
2026-03-13T09:24:45.718Z,1773393885.718 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2026-03-13T09:24:45.719Z,1773393885.719 [keepstation:PowerOnly:E.Wait] Stopped
2026-03-13T09:24:45.719Z,1773393885.719 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2026-03-13T09:24:45.719Z,1773393885.719 [keepstation:H.Pitch] Stopped
2026-03-13T09:24:45.719Z,1773393885.719 [keepstation:DiveCmd] Stopped
2026-03-13T09:24:45.719Z,1773393885.719 [keepstation:DiveCmd](DEBUG): Aggregate::uninitialize keepstation:DiveCmd
2026-03-13T09:24:45.719Z,1773393885.719 [keepstation:KeepStation] Stopped
2026-03-13T09:24:45.719Z,1773393885.719 [keepstation:KeepStation](DEBUG): Aggregate::uninitialize keepstation:KeepStation
2026-03-13T09:24:45.720Z,1773393885.720 [keepstation:KeepStation:B.Wait] Stopped
2026-03-13T09:24:45.720Z,1773393885.720 [keepstation:KeepStation:B.Wait](DEBUG): Uninitialize Wait Component.
2026-03-13T09:24:45.744Z,1773393885.744 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2026-03-13T09:24:45.745Z,1773393885.745 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2026-03-13T09:24:45.748Z,1773393885.748 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2026-03-13T09:24:47.174Z,1773393887.174 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/keepstation.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="keepstation">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>0.75</Value>
    </DefineArg>
    <DefineArg Name="Radius">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="SinkOffSurface">
        <False />
    </DefineArg>
    <DefineArg Name="SinkDepth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SinkDepthTimeout">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineOutput Name="DiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DoingComms">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="SurfaceSink">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="TransitToStation">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="StationKeep">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <DefineOutput Name="OnStation">
        <False />
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Pitch>
        <Parallel />
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="SurfaceComms">
        <When>
            <Called />
            <Or>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedCommsTime" />
                </Gt>
            </Or>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="DoingComms" />
        </Assign>
        <Call RefId="NeedComms" PriorityHere="false" />
        <Aggregate Id="HandleNan">
            <Sequence />
            <Break>
                <Not>
                    <IsNaN>
                        <Arg Name="Latitude" />
                    </IsNaN>
                </Not>
                <And>
                    <Not>
                        <IsNaN>
                            <Arg Name="Longitude" />
                        </IsNaN>
                    </Not>
                </And>
            </Break>
            <Aggregate Id="SetOnStation">
                <Sequence />
                <Break>
                    <Not>
                        <IsNaN>
                            <Arg Name="Latitude" />
                        </IsNaN>
                    </Not>
                    <Or>
                        <Not>
                            <IsNaN>
                                <Arg Name="Longitude" />
                            </IsNaN>
                        </Not>
                    </Or>
                </Break>
                <Assign>
                    <Sequence />
                    <Arg Name="OnStation" />
                    <True />
                </Assign>
            </Aggregate>
            <Aggregate Id="SetLat">
                <Sequence />
                <Break>
                    <Not>
                        <IsNaN>
                            <Arg Name="Latitude" />
                        </IsNaN>
                    </Not>
                </Break>
                <Assign>
                    <Sequence />
                    <Arg Name="Latitude" />
                    <Universal:latitude_fix />
                </Assign>
            </Aggregate>
            <Aggregate Id="SetLon">
                <Sequence />
                <Break>
                    <Not>
                        <IsNaN>
                            <Arg Name="Longitude" />
                        </IsNaN>
                    </Not>
                </Break>
                <Assign>
                    <Sequence />
                    <Arg Name="Longitude" />
                    <Universal:longitude_fix />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="setTransit">
            <Sequence />
            <Break>
                <Arg Name="SinkOffSurface" />
                <Or>
                    <Arg Name="OnStation" />
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="TransitToStation" />
            </Assign>
        </Aggregate>
        <Aggregate Id="setStation">
            <Sequence />
            <Break>
                <Arg Name="SinkOffSurface" />
                <Or>
                    <Not>
                        <Arg Name="OnStation" />
                    </Not>
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="StationKeep" />
            </Assign>
        </Aggregate>
        <Aggregate Id="setSink">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="SinkOffSurface" />
                </Not>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="SurfaceSink" />
            </Assign>
        </Aggregate>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="StartingMission" PriorityHere="false" />
    <Aggregate Id="DiveCmd">
        <When>
            <Called />
        </When>
        <Aggregate Id="SurfaceSink">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SurfaceSink" />
                </Eq>
            </While>
            <Aggregate Id="sink">
                <Sequence />
                <Guidance:Buoyancy Id="BuoyancyHold">
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Units:cubic_centimeter />
                        <Value>NaN</Value>
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Units:meter_per_second />
                        <Value>0</Value>
                    </Setting>
                </Guidance:SetSpeed>
                <Syslog Severity="Info">
                    Sinking to 
                    <Arg Name="SinkDepth" />
                    <Units:meter />
                </Syslog>
                <Guidance:Pitch>
                    <Sequence />
                    <Timeout Duration="SinkDepthTimeout">
                        <Syslog Severity="Important">
                            Timed out while trying to reach target sink depth at current depth of 
                            <Universal:depth />
                            <Units:meter />
                        </Syslog>
                    </Timeout>
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="SinkDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Aggregate Id="sinkToTransit">
                    <Sequence />
                    <Break>
                        <Arg Name="OnStation" />
                    </Break>
                    <Assign>
                        <Sequence />
                        <Arg Name="DiveMode" />
                        <Arg Name="TransitToStation" />
                    </Assign>
                </Aggregate>
                <Aggregate Id="sinkToStation">
                    <Sequence />
                    <Break>
                        <Not>
                            <Arg Name="OnStation" />
                        </Not>
                    </Break>
                    <Assign>
                        <Sequence />
                        <Arg Name="DiveMode" />
                        <Arg Name="StationKeep" />
                    </Assign>
                </Aggregate>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="TransitToStation">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="TransitToStation" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Control:VerticalControl.buoyancyNeutral />
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="ApproachDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Arg Name="Speed" />
                    </Setting>
                </Guidance:SetSpeed>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="StationKeep">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="StationKeep" />
                </Eq>
            </While>
            <Assign>
                <Parallel />
                <Control:VerticalControl.depthDeadband />
                <Arg Name="DepthDeadband" />
            </Assign>
            <Guidance:Pitch>
                <Parallel />
                <Setting>
                    <Guidance:Pitch.depth />
                    <Arg Name="Depth" />
                </Setting>
            </Guidance:Pitch>
            <Guidance:KeepStation>
                <Parallel />
                <Setting>
                    <Guidance:KeepStation.latitude />
                    <Arg Name="Latitude" />
                </Setting>
                <Setting>
                    <Guidance:KeepStation.longitude />
                    <Arg Name="Longitude" />
                </Setting>
                <Setting>
                    <Guidance:KeepStation.radius />
                    <Arg Name="Radius" />
                </Setting>
                <Setting>
                    <Guidance:KeepStation.speed />
                    <Arg Name="Speed" />
                </Setting>
            </Guidance:KeepStation>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="TransitToStation">
        <Sequence />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" PriorityHere="false" />
        </Aggregate>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
        </Guidance:Waypoint>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="StationKeep" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="OnStation" />
            <True />
        </Assign>
    </Aggregate>
    <Call RefId="NeedComms" Id="OnStation" PriorityHere="false" />
    <Aggregate Id="KeepStation">
        <Sequence />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" PriorityHere="false" />
        </Aggregate>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="MissionTimeout" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
</Mission>

2026-03-13T09:24:47.191Z,1773393887.191 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2026-03-13T09:24:47.198Z,1773393887.198 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2026-03-13T09:24:47.204Z,1773393887.204 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2026-03-13T09:24:47.206Z,1773393887.206 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2026-03-13T09:24:47.213Z,1773393887.213 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2026-03-13T09:24:47.279Z,1773393887.279 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2026-03-13T09:24:47.281Z,1773393887.281 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2026-03-13T09:24:47.296Z,1773393887.296 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2026-03-13T09:24:47.298Z,1773393887.298 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2026-03-13T09:24:47.308Z,1773393887.308 [MissionManager](INFO): DefineArg keepstation.SinkOffSurface = 0 bool
2026-03-13T09:24:47.310Z,1773393887.310 [MissionManager](INFO): DefineArg keepstation.SinkDepth = 10.000000 m
2026-03-13T09:24:47.328Z,1773393887.328 [MissionManager](INFO): DefineArg keepstation.SinkDepthTimeout = 10.000000 min
2026-03-13T09:24:47.330Z,1773393887.330 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2026-03-13T09:24:47.337Z,1773393887.337 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2026-03-13T09:24:47.339Z,1773393887.339 [MissionManager](INFO): DefineOutput keepstation.DiveMode = 0.000000 count
2026-03-13T09:24:47.368Z,1773393887.368 [MissionManager](INFO): DefineOutput keepstation.DoingComms = 0.000000 count
2026-03-13T09:24:47.370Z,1773393887.370 [MissionManager](INFO): DefineOutput keepstation.SurfaceSink = 1.000000 count
2026-03-13T09:24:47.389Z,1773393887.389 [MissionManager](INFO): DefineOutput keepstation.TransitToStation = 2.000000 count
2026-03-13T09:24:47.397Z,1773393887.397 [MissionManager](INFO): DefineOutput keepstation.StationKeep = 3.000000 count
2026-03-13T09:24:47.403Z,1773393887.403 [MissionManager](INFO): DefineOutput keepstation.OnStation = 0 bool
2026-03-13T09:24:47.404Z,1773393887.404 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2026-03-13T09:24:47.404Z,1773393887.404 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2026-03-13T09:24:47.406Z,1773393887.406 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2026-03-13T09:24:47.992Z,1773393887.992 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1500</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="DoingCommsMode">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="RestoreMode">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="IsActive">
        <False />
    </DefineOutput>
    <DefineOutput Name="RequiredDiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Aggregate Id="setActive">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="RequiredDiveMode" />
            <Arg Name="DoingCommsMode" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="IsActive" />
            <True />
        </Assign>
    </Aggregate>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <Aggregate Id="setRestoreMode">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="RequiredDiveMode" />
            <Arg Name="RestoreMode" />
        </Assign>
    </Aggregate>
    <Aggregate Id="setInactive">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="IsActive" />
            <False />
        </Assign>
    </Aggregate>
</Aggregate>

2026-03-13T09:24:48.006Z,1773393888.006 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2026-03-13T09:24:48.008Z,1773393888.008 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2026-03-13T09:24:48.010Z,1773393888.010 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2026-03-13T09:24:48.012Z,1773393888.012 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2026-03-13T09:24:48.014Z,1773393888.014 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2026-03-13T09:24:48.017Z,1773393888.017 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1500.000000 s
2026-03-13T09:24:48.027Z,1773393888.027 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2026-03-13T09:24:48.030Z,1773393888.030 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2026-03-13T09:24:48.032Z,1773393888.032 [MissionManager](INFO): DefineArg keepstation:NeedComms.DoingCommsMode = 0.000000 count
2026-03-13T09:24:48.034Z,1773393888.034 [MissionManager](INFO): DefineArg keepstation:NeedComms.RestoreMode = 0.000000 count
2026-03-13T09:24:48.100Z,1773393888.100 [MissionManager](INFO): DefineOutput keepstation:NeedComms.IsActive = 0 bool
2026-03-13T09:24:48.103Z,1773393888.103 [MissionManager](INFO): DefineOutput keepstation:NeedComms.RequiredDiveMode = 0.000000 count
2026-03-13T09:24:48.152Z,1773393888.152 [keepstation:NeedComms:C.GoToSurface](DEBUG): Construct GoToSurface.
2026-03-13T09:24:48.259Z,1773393888.259 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2026-03-13T09:24:48.259Z,1773393888.259 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2026-03-13T09:24:48.272Z,1773393888.272 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2026-03-13T09:24:48.392Z,1773393888.392 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2026-03-13T09:24:48.396Z,1773393888.396 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2026-03-13T09:24:48.398Z,1773393888.398 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2026-03-13T09:24:48.400Z,1773393888.400 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2026-03-13T09:24:48.402Z,1773393888.402 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2026-03-13T09:24:48.412Z,1773393888.412 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2026-03-13T09:24:48.486Z,1773393888.486 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2026-03-13T09:24:48.520Z,1773393888.520 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2026-03-13T09:24:48.539Z,1773393888.539 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2026-03-13T09:24:48.539Z,1773393888.539 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2026-03-13T09:24:48.544Z,1773393888.544 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2026-03-13T09:24:48.609Z,1773393888.609 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2026-03-13T09:24:48.612Z,1773393888.612 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2026-03-13T09:24:48.615Z,1773393888.615 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2026-03-13T09:24:48.618Z,1773393888.618 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2026-03-13T09:24:48.618Z,1773393888.618 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2026-03-13T09:24:48.630Z,1773393888.630 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2026-03-13T09:24:48.788Z,1773393888.788 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2026-03-13T09:24:48.800Z,1773393888.800 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2026-03-13T09:24:48.802Z,1773393888.802 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2026-03-13T09:24:48.804Z,1773393888.804 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2026-03-13T09:24:48.806Z,1773393888.806 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2026-03-13T09:24:48.808Z,1773393888.808 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 0 bool
2026-03-13T09:24:48.814Z,1773393888.814 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2026-03-13T09:24:48.816Z,1773393888.816 [keepstation:H.Pitch](DEBUG): Construct.
2026-03-13T09:24:49.016Z,1773393889.016 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2026-03-13T09:24:49.018Z,1773393889.018 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2026-03-13T09:24:49.021Z,1773393889.021 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2026-03-13T09:24:49.044Z,1773393889.044 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Construct Buoyancy.
2026-03-13T09:24:49.047Z,1773393889.047 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Construct.
2026-03-13T09:24:49.051Z,1773393889.051 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Construct.
2026-03-13T09:24:49.073Z,1773393889.073 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Construct.
2026-03-13T09:24:49.085Z,1773393889.085 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Construct KeepStation.
2026-03-13T09:24:49.093Z,1773393889.093 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2026-03-13T09:24:49.112Z,1773393889.112 [keepstation:KeepStation:B.Wait](DEBUG): Construct Wait.
2026-03-13T09:24:49.144Z,1773393889.144 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission keepstation {
  """
  Vehicle transits to desired waypoint (or stays put if none is commanded)
  and stays within the specified radius.
  """

  arguments {
    MissionTimeout = 4 hour
      """
      Maximum duration of mission
      """

    NeedCommsTime = 45 minute
      """
      How often to surface for communications
      """

    Latitude = NaN degree
      """
      Latitude of waypoint to hold. If NaN, hold the latitude at start of
      mission.
      """

    Longitude = NaN degree
      """
      Longitude of waypoint to hold. If NaN, hold the longitude at start of
      mission.
      """

    Depth = 30 meter
      """
      Depth held during drift mode
      """

    ApproachDepth = 15 meter
      """
      Depth for initial approach to station.
      """

    DepthDeadband = 4 meter
      """
      How much vertical drift from the specified depth is allowed in drift
      mode
      """

    Speed = 0.75 meter_per_second
      """
      Vehicle transit speed.
      """

    Radius = 200 meter
      """
      Radius of circle around waypoint to hold.
      """

    SinkOffSurface = false
      """
      If true, use buoyancy only to decend to SinkDepth before driving to first target depth
      """

    SinkDepth = 10 meter
      """
      Initial depth to decend using only buoyancy before driving
      """

    SinkDepthTimeout = 10 minute
      """
      Max wait time for the vehicle to reach the target depth
      """

    MaxDepth = 45 meter
      """
      Maximum allowable depth during the mission.
      """

    MinOffshore = 2 kilometer
      """
      Minimum distance from the shoreline to maintain
      """
  }

  output {
    DiveMode = 0 count
      """
      Mission variable (don't change). The mission sets this variable to
      switch between dive modes. Initialized to DoingComms.
      """

    DoingComms = 0 count
      """
      Mission variable (don't change). The mission will run in this mode
      when doing surface comms.
      """

    SurfaceSink = 1 count
      """
      Mission variable (don't change). The mission will run in this mode
      when sinking from the surface using only buoyancy.
      """

    TransitToStation = 2 count
      """
      Mission variable (don't change). The mission will run in this mode
      when performing the transit to station
      """

    StationKeep = 3 count
      """
      Mission variable (don't change). The mission will run in this mode
      when keeping station
      """

    OnStation = false
      """
      Mission variable (don't change). Determines last mode (Transit or StationKeep)
      to resume after needcomms
      """
  }

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  behavior Guidance:Pitch {
    run in parallel

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate SurfaceComms {
    run when (
      called
      or ( elapsed ( Universal:time_fix ) > NeedCommsTime )
    )

    assign in sequence DiveMode = DoingComms

    call priorityHere=false refId="NeedComms"

    aggregate HandleNan {
      run in sequence

      break if (
        not isNaN ( Latitude )
        and not isNaN ( Longitude )
      )

      # If both lat and lon are nan, we are implicitly on station and should skip initial transit, so force OnStation to true
      aggregate SetOnStation {
        run in sequence

        break if (
          not isNaN ( Latitude )
          or not isNaN ( Longitude )
        )

        assign in sequence OnStation = true
      }

      # The "assigns" here mean we should only ever run these aggregates once
      # An initial NaN lat/lon should be set here during the initial surface NeedComms call
      # Use the most recent fix -- if there isn't one, the keepstation behavior will use Universal:lat/lon
      aggregate SetLat {
        run in sequence

        break if ( not isNaN ( Latitude ) )

        assign in sequence Latitude = Universal:latitude_fix
      }

      aggregate SetLon {
        run in sequence

        break if ( not isNaN ( Longitude ) )

        assign in sequence Longitude = Universal:longitude_fix
      }
    }

    aggregate setTransit {
      run in sequence

      break if (
        SinkOffSurface
        or OnStation
      )

      assign in sequence DiveMode = TransitToStation
    }

    aggregate setStation {
      run in sequence

      break if (
        SinkOffSurface
        or not OnStation
      )

      assign in sequence DiveMode = StationKeep
    }

    aggregate setSink {
      run in sequence

      break if ( not SinkOffSurface )

      assign in sequence DiveMode = SurfaceSink
    }
  }

  call id="StartingMission" priorityHere=false refId="SurfaceComms"

  aggregate DiveCmd {
    run when ( called )

    aggregate SurfaceSink {
      run while ( DiveMode == SurfaceSink )

      aggregate sink {
        run in sequence

        behavior Guidance:Buoyancy id="BuoyancyHold" {
          run in parallel

          set position = NaN cc
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = 0 m/s
        }

        syslog info "Sinking to " + SinkDepth~meter

        behavior Guidance:Pitch {
          run in sequence

          timeout duration=SinkDepthTimeout {
            syslog important "Timed out while trying to reach target sink depth at current depth of "
                 + Universal:depth~meter
          }

          set depth = SinkDepth
        }

        # Once we've sunk, either resume transit or station keeping depths and speeds
        aggregate sinkToTransit {
          run in sequence

          break if ( OnStation )

          assign in sequence DiveMode = TransitToStation
        }

        aggregate sinkToStation {
          run in sequence

          break if ( not OnStation )

          assign in sequence DiveMode = StationKeep
        }
      }
    }

    aggregate TransitToStation {
      run while ( DiveMode == TransitToStation )

      aggregate dive {
        run in sequence

        behavior Guidance:Buoyancy {
          run in parallel

          set position = Control:VerticalControl.buoyancyNeutral
        }

        behavior Guidance:Pitch {
          run in parallel

          set depth = ApproachDepth
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = Speed
        }
      }
    }

    aggregate StationKeep {
      run while ( DiveMode == StationKeep )

      assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband

      behavior Guidance:Pitch {
        run in parallel

        set depth = Depth
      }

      behavior Guidance:KeepStation {
        run in parallel

        set latitude = Latitude
        set longitude = Longitude
        set radius = Radius
        set speed = Speed
      }
    }
  }

  aggregate TransitToStation {
    """
    Need a separate aggregate for transit if we want to specify a
    different depth for the approach.
    """

    run in sequence

    aggregate Dive {
      run while ( not ( DiveMode == DoingComms ) )

      call priorityHere=false refId="DiveCmd"
    }

    behavior Guidance:Waypoint id="Wpt1" {
      run in sequence

      set latitude = Latitude
      set longitude = Longitude
    }

    assign in sequence DiveMode = StationKeep
    assign in sequence OnStation = true
  }

  call id="OnStation" priorityHere=false refId="NeedComms"

  aggregate KeepStation {
    run in sequence

    aggregate Dive {
      run while ( not ( DiveMode == DoingComms ) )

      call priorityHere=false refId="DiveCmd"
    }

    behavior Guidance:Wait {
      """
      Due to the way the KeepStation behavior is currently
      implemented, we must run it in parallel and use a Wait to keep
      from completing the mission before the timeout expires. However,
      this new version of the mission uses a top-level timeout so that
      the entire mission will not run for longer then MissionTimeout.
      """

      run in sequence

      set duration = MissionTimeout
    }
  }
}


2026-03-13T09:24:49.145Z,1773393889.145 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2026-03-13T09:24:49.331Z,1773393889.331 [MissionManager](IMPORTANT): Started mission Default
2026-03-13T09:24:49.359Z,1773393889.359 [Default] Running Loop=1
2026-03-13T09:24:49.360Z,1773393889.360 [Default](DEBUG): Aggregate::initialize Default
2026-03-13T09:24:49.360Z,1773393889.360 [Default:B.GoToSurface] Running Loop=1
2026-03-13T09:24:49.360Z,1773393889.360 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-03-13T09:24:49.360Z,1773393889.360 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2026-03-13T09:24:49.360Z,1773393889.360 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2026-03-13T09:24:49.361Z,1773393889.361 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2026-03-13T09:24:49.361Z,1773393889.361 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2026-03-13T09:24:49.361Z,1773393889.361 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-03-13T09:24:49.361Z,1773393889.361 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-03-13T09:24:49.362Z,1773393889.362 [Default:A.Wait] Running Loop=1
2026-03-13T09:24:49.362Z,1773393889.362 [Default:A.Wait](DEBUG): Initialize Wait Component.
2026-03-13T09:25:02.365Z,1773393902.365 [Default:A.Wait](INFO): Done Waiting.
2026-03-13T09:25:02.365Z,1773393902.365 [Default:A.Wait] Stopped
2026-03-13T09:25:02.366Z,1773393902.366 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2026-03-13T09:25:02.808Z,1773393902.808 [Default:CheckIn] Running Loop=1
2026-03-13T09:25:02.808Z,1773393902.808 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2026-03-13T09:25:02.808Z,1773393902.808 [Default:CheckIn:Read_GPS] Running Loop=1
2026-03-13T09:25:04.776Z,1773393904.776 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,092504.00,A,3648.38011,N,12150.58717,W,1.186,296.71,130326,,,D*7A
2026-03-13T09:25:04.778Z,1773393904.778 [NAL9602](INFO): GPS fix at 20260313T092504: (36.806335, -121.843120)
2026-03-13T09:25:04.802Z,1773393904.802 [Default:CheckIn:Read_GPS] Stopped
2026-03-13T09:25:04.802Z,1773393904.802 [Default:CheckIn:Read_Iridium] Running Loop=1
2026-03-13T09:25:07.654Z,1773393907.654 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 12 hour
2026-03-13T09:25:07.655Z,1773393907.655 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 60 minute
2026-03-13T09:25:07.656Z,1773393907.656 [CommandExec](IMPORTANT): got command set keepstation.Latitude 36.797 degree
2026-03-13T09:25:07.657Z,1773393907.657 [CommandExec](IMPORTANT): got command set keepstation.Longitude -121.847 degree
2026-03-13T09:25:07.658Z,1773393907.658 [CommandExec](IMPORTANT): got command run
2026-03-13T09:25:07.659Z,1773393907.659 [CommandExec](IMPORTANT): Running 
2026-03-13T09:25:07.734Z,1773393907.734 [Default] Stopped
2026-03-13T09:25:07.734Z,1773393907.734 [Default](DEBUG): Aggregate::uninitialize Default
2026-03-13T09:25:07.734Z,1773393907.734 [Default:B.GoToSurface] Stopped
2026-03-13T09:25:07.734Z,1773393907.734 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-03-13T09:25:07.734Z,1773393907.734 [Default:CheckIn] Stopped
2026-03-13T09:25:07.734Z,1773393907.734 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2026-03-13T09:25:07.734Z,1773393907.734 [Default:CheckIn:Read_Iridium] Stopped
2026-03-13T09:25:07.734Z,1773393907.734 [MissionManager](IMPORTANT): Started mission keepstation
2026-03-13T09:25:07.735Z,1773393907.735 [keepstation] Running Loop=1
2026-03-13T09:25:07.735Z,1773393907.735 [keepstation](DEBUG): Aggregate::initialize keepstation
2026-03-13T09:25:07.735Z,1773393907.735 [keepstation:StandardEnvelopes] Running Loop=1
2026-03-13T09:25:07.735Z,1773393907.735 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2026-03-13T09:25:07.735Z,1773393907.735 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2026-03-13T09:25:07.735Z,1773393907.735 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2026-03-13T09:25:07.735Z,1773393907.735 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2026-03-13T09:25:07.735Z,1773393907.735 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2026-03-13T09:25:07.736Z,1773393907.736 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2026-03-13T09:25:07.736Z,1773393907.736 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2026-03-13T09:25:07.736Z,1773393907.736 [keepstation:BackseatDriver] Running Loop=1
2026-03-13T09:25:07.736Z,1773393907.736 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2026-03-13T09:25:07.736Z,1773393907.736 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2026-03-13T09:25:07.736Z,1773393907.736 [keepstation:PowerOnly] Running Loop=1
2026-03-13T09:25:07.736Z,1773393907.736 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2026-03-13T09:25:07.736Z,1773393907.736 [keepstation:PowerOnly:A] Running Loop=1
2026-03-13T09:25:07.736Z,1773393907.736 [keepstation:PowerOnly:B] Running Loop=1
2026-03-13T09:25:07.736Z,1773393907.736 [keepstation:PowerOnly:C] Running Loop=1
2026-03-13T09:25:07.736Z,1773393907.736 [keepstation:PowerOnly:D] Running Loop=1
2026-03-13T09:25:07.737Z,1773393907.737 [keepstation:PowerOnly:E.Wait] Running Loop=1
2026-03-13T09:25:07.737Z,1773393907.737 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2026-03-13T09:25:07.737Z,1773393907.737 [keepstation:H.Pitch] Running Loop=1
2026-03-13T09:25:07.737Z,1773393907.737 [keepstation:H.Pitch](DEBUG): Initialize.
2026-03-13T09:25:07.737Z,1773393907.737 [keepstation:B] Running Loop=1
2026-03-13T09:25:07.738Z,1773393907.738 [keepstation:H.Pitch] Running Loop=1
2026-03-13T09:25:07.738Z,1773393907.738 [keepstation:PowerOnly] Running Loop=1
2026-03-13T09:25:07.738Z,1773393907.738 [keepstation:PowerOnly:D] Stopped
2026-03-13T09:25:07.739Z,1773393907.739 [keepstation:PowerOnly:C] Stopped
2026-03-13T09:25:07.739Z,1773393907.739 [keepstation:PowerOnly:B] Stopped
2026-03-13T09:25:07.739Z,1773393907.739 [keepstation:PowerOnly:A] Stopped
2026-03-13T09:25:07.739Z,1773393907.739 [keepstation:BackseatDriver] Running Loop=1
2026-03-13T09:25:07.739Z,1773393907.739 [keepstation:StandardEnvelopes] Running Loop=1
2026-03-13T09:25:07.739Z,1773393907.739 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2026-03-13T09:25:07.739Z,1773393907.739 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2026-03-13T09:25:07.740Z,1773393907.740 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2026-03-13T09:25:07.740Z,1773393907.740 [keepstation:B] Stopped
2026-03-13T09:25:07.740Z,1773393907.740 [keepstation:D] Running Loop=1
2026-03-13T09:25:08.154Z,1773393908.154 [keepstation:D] Stopped
2026-03-13T09:25:08.154Z,1773393908.154 [keepstation:E] Running Loop=1
2026-03-13T09:25:08.532Z,1773393908.532 [keepstation:E] Stopped
2026-03-13T09:25:08.532Z,1773393908.532 [keepstation:StartingMission] Running Loop=1
2026-03-13T09:25:08.532Z,1773393908.532 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2026-03-13T09:25:08.949Z,1773393908.949 [keepstation:SurfaceComms] Running Loop=1
2026-03-13T09:25:08.949Z,1773393908.949 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms
2026-03-13T09:25:08.949Z,1773393908.949 [keepstation:SurfaceComms:A] Running Loop=1
2026-03-13T09:25:08.949Z,1773393908.949 [keepstation:SurfaceComms:A] Stopped
2026-03-13T09:25:08.949Z,1773393908.949 [keepstation:SurfaceComms:B] Running Loop=1
2026-03-13T09:25:08.950Z,1773393908.950 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B
2026-03-13T09:25:09.359Z,1773393909.359 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2026-03-13T09:25:09.363Z,1773393909.363 [keepstation:NeedComms] Running Loop=1
2026-03-13T09:25:09.363Z,1773393909.363 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2026-03-13T09:25:09.363Z,1773393909.363 [keepstation:NeedComms:C.GoToSurface] Running Loop=1
2026-03-13T09:25:09.364Z,1773393909.364 [keepstation:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-03-13T09:25:09.364Z,1773393909.364 [keepstation:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2026-03-13T09:25:09.364Z,1773393909.364 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2026-03-13T09:25:09.365Z,1773393909.365 [keepstation:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2026-03-13T09:25:09.365Z,1773393909.365 [keepstation:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2026-03-13T09:25:09.365Z,1773393909.365 [keepstation:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-03-13T09:25:09.366Z,1773393909.366 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-03-13T09:25:09.366Z,1773393909.366 [keepstation:NeedComms:A] Running Loop=1
2026-03-13T09:25:09.371Z,1773393909.371 [keepstation:NeedComms:A](INFO): last time_fix was:  1773393904.000000 second since 1970/01/01T00:00:00Z 
2026-03-13T09:25:09.371Z,1773393909.371 [keepstation:NeedComms:A] Stopped
2026-03-13T09:25:09.371Z,1773393909.371 [keepstation:NeedComms:setActive] Running Loop=1
2026-03-13T09:25:09.372Z,1773393909.372 [keepstation:NeedComms:setActive](DEBUG): Aggregate::initialize keepstation:NeedComms:setActive
2026-03-13T09:25:09.372Z,1773393909.372 [keepstation:NeedComms:setActive:A] Running Loop=1
2026-03-13T09:25:09.776Z,1773393909.776 [keepstation:NeedComms:setActive:A] Stopped
2026-03-13T09:25:09.776Z,1773393909.776 [keepstation:NeedComms:setActive:B] Running Loop=1
2026-03-13T09:25:10.162Z,1773393910.162 [keepstation:NeedComms:setActive:B] Stopped
2026-03-13T09:25:10.162Z,1773393910.162 [keepstation:NeedComms:setActive](INFO): Completed keepstation:NeedComms:setActive
2026-03-13T09:25:10.162Z,1773393910.162 [keepstation:NeedComms:setActive] Stopped
2026-03-13T09:25:10.163Z,1773393910.163 [keepstation:NeedComms:setActive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setActive
2026-03-13T09:25:10.566Z,1773393910.566 [keepstation:NeedComms:D] Running Loop=1
2026-03-13T09:25:10.983Z,1773393910.983 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense time_fix
2026-03-13T09:25:12.511Z,1773393912.511 [DataOverHttps](INFO): Sending 84 bytes from file Logs/20260313T044322/Courier0045.lzma
2026-03-13T09:25:13.513Z,1773393913.513 [DataOverHttps](INFO): Moved sent file to Logs/20260313T044322/Courier0045.lzma.bak
2026-03-13T09:25:13.513Z,1773393913.513 [DataOverHttps](INFO): SBD MOMSN=26731320
2026-03-13T09:25:20.642Z,1773393920.642 [NAL9602](INFO): SBD MO Status=0, MOMSN=32775, MT Status=0, MTMSN=0
2026-03-13T09:25:20.642Z,1773393920.642 [NAL9602](INFO): No messages in MT queue
2026-03-13T09:25:21.858Z,1773393921.858 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,092521.00,A,3648.38213,N,12150.58729,W,0.952,24.96,130326,,,D*42
2026-03-13T09:25:21.861Z,1773393921.861 [NAL9602](INFO): GPS fix at 20260313T092521: (36.806369, -121.843121)
2026-03-13T09:25:21.873Z,1773393921.873 [keepstation:NeedComms:D] Stopped
2026-03-13T09:25:21.874Z,1773393921.874 [keepstation:NeedComms:E] Running Loop=1
2026-03-13T09:25:22.284Z,1773393922.284 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense platform_communications
2026-03-13T09:25:53.097Z,1773393953.097 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T09:25:54.580Z,1773393954.580 [NAL9602](INFO): Not Powering down - fast GPS
2026-03-13T09:26:00.503Z,1773393960.503 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20260313T044322/Courier0048.lzma
2026-03-13T09:26:01.506Z,1773393961.506 [DataOverHttps](INFO): Moved sent file to Logs/20260313T044322/Courier0048.lzma.bak
2026-03-13T09:26:01.507Z,1773393961.507 [DataOverHttps](IMPORTANT): SBD MOMSN=26731335, MTMSN=20260313T092600
2026-03-13T09:26:09.099Z,1773393969.099 [DataOverHttps](INFO): Received command: load Transport/keepstation.tl;set keepstation.MissionTimeout 12 h;set keepstation.NeedCommsTime 60 min;set keepstation.Latitude 36.797 degree;set keepstation.Longitude -121.847 degree;set keepstation.Speed 1 m/s;run
2026-03-13T09:26:09.133Z,1773393969.133 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2026-03-13T09:26:09.134Z,1773393969.134 [MissionManager](INFO): Uninitializing Mission keepstation
2026-03-13T09:26:09.134Z,1773393969.134 [keepstation] Stopped
2026-03-13T09:26:09.134Z,1773393969.134 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2026-03-13T09:26:09.134Z,1773393969.134 [keepstation:NeedComms] Stopped
2026-03-13T09:26:09.134Z,1773393969.134 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2026-03-13T09:26:09.134Z,1773393969.134 [keepstation:NeedComms:C.GoToSurface] Stopped
2026-03-13T09:26:09.134Z,1773393969.134 [keepstation:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-03-13T09:26:09.134Z,1773393969.134 [keepstation:NeedComms:E] Stopped
2026-03-13T09:26:09.134Z,1773393969.134 [keepstation:StandardEnvelopes] Stopped
2026-03-13T09:26:09.134Z,1773393969.134 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2026-03-13T09:26:09.134Z,1773393969.134 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2026-03-13T09:26:09.134Z,1773393969.134 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2026-03-13T09:26:09.135Z,1773393969.135 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2026-03-13T09:26:09.135Z,1773393969.135 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2026-03-13T09:26:09.135Z,1773393969.135 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2026-03-13T09:26:09.135Z,1773393969.135 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2026-03-13T09:26:09.135Z,1773393969.135 [keepstation:BackseatDriver] Stopped
2026-03-13T09:26:09.135Z,1773393969.135 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2026-03-13T09:26:09.139Z,1773393969.139 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2026-03-13T09:26:09.139Z,1773393969.139 [keepstation:PowerOnly] Stopped
2026-03-13T09:26:09.139Z,1773393969.139 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2026-03-13T09:26:09.140Z,1773393969.140 [keepstation:PowerOnly:E.Wait] Stopped
2026-03-13T09:26:09.140Z,1773393969.140 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2026-03-13T09:26:09.140Z,1773393969.140 [keepstation:H.Pitch] Stopped
2026-03-13T09:26:09.140Z,1773393969.140 [keepstation:SurfaceComms] Stopped
2026-03-13T09:26:09.140Z,1773393969.140 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms
2026-03-13T09:26:09.140Z,1773393969.140 [keepstation:SurfaceComms:B] Stopped
2026-03-13T09:26:09.140Z,1773393969.140 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B
2026-03-13T09:26:09.140Z,1773393969.140 [keepstation:StartingMission] Stopped
2026-03-13T09:26:09.140Z,1773393969.140 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2026-03-13T09:26:09.219Z,1773393969.219 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2026-03-13T09:26:09.223Z,1773393969.223 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2026-03-13T09:26:09.226Z,1773393969.226 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2026-03-13T09:26:10.550Z,1773393970.550 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/keepstation.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="keepstation">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>0.75</Value>
    </DefineArg>
    <DefineArg Name="Radius">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="SinkOffSurface">
        <False />
    </DefineArg>
    <DefineArg Name="SinkDepth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SinkDepthTimeout">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineOutput Name="DiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DoingComms">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="SurfaceSink">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="TransitToStation">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="StationKeep">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <DefineOutput Name="OnStation">
        <False />
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Pitch>
        <Parallel />
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="SurfaceComms">
        <When>
            <Called />
            <Or>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedCommsTime" />
                </Gt>
            </Or>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="DoingComms" />
        </Assign>
        <Call RefId="NeedComms" PriorityHere="false" />
        <Aggregate Id="HandleNan">
            <Sequence />
            <Break>
                <Not>
                    <IsNaN>
                        <Arg Name="Latitude" />
                    </IsNaN>
                </Not>
                <And>
                    <Not>
                        <IsNaN>
                            <Arg Name="Longitude" />
                        </IsNaN>
                    </Not>
                </And>
            </Break>
            <Aggregate Id="SetOnStation">
                <Sequence />
                <Break>
                    <Not>
                        <IsNaN>
                            <Arg Name="Latitude" />
                        </IsNaN>
                    </Not>
                    <Or>
                        <Not>
                            <IsNaN>
                                <Arg Name="Longitude" />
                            </IsNaN>
                        </Not>
                    </Or>
                </Break>
                <Assign>
                    <Sequence />
                    <Arg Name="OnStation" />
                    <True />
                </Assign>
            </Aggregate>
            <Aggregate Id="SetLat">
                <Sequence />
                <Break>
                    <Not>
                        <IsNaN>
                            <Arg Name="Latitude" />
                        </IsNaN>
                    </Not>
                </Break>
                <Assign>
                    <Sequence />
                    <Arg Name="Latitude" />
                    <Universal:latitude_fix />
                </Assign>
            </Aggregate>
            <Aggregate Id="SetLon">
                <Sequence />
                <Break>
                    <Not>
                        <IsNaN>
                            <Arg Name="Longitude" />
                        </IsNaN>
                    </Not>
                </Break>
                <Assign>
                    <Sequence />
                    <Arg Name="Longitude" />
                    <Universal:longitude_fix />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="setTransit">
            <Sequence />
            <Break>
                <Arg Name="SinkOffSurface" />
                <Or>
                    <Arg Name="OnStation" />
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="TransitToStation" />
            </Assign>
        </Aggregate>
        <Aggregate Id="setStation">
            <Sequence />
            <Break>
                <Arg Name="SinkOffSurface" />
                <Or>
                    <Not>
                        <Arg Name="OnStation" />
                    </Not>
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="StationKeep" />
            </Assign>
        </Aggregate>
        <Aggregate Id="setSink">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="SinkOffSurface" />
                </Not>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="SurfaceSink" />
            </Assign>
        </Aggregate>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="StartingMission" PriorityHere="false" />
    <Aggregate Id="DiveCmd">
        <When>
            <Called />
        </When>
        <Aggregate Id="SurfaceSink">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SurfaceSink" />
                </Eq>
            </While>
            <Aggregate Id="sink">
                <Sequence />
                <Guidance:Buoyancy Id="BuoyancyHold">
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Units:cubic_centimeter />
                        <Value>NaN</Value>
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Units:meter_per_second />
                        <Value>0</Value>
                    </Setting>
                </Guidance:SetSpeed>
                <Syslog Severity="Info">
                    Sinking to 
                    <Arg Name="SinkDepth" />
                    <Units:meter />
                </Syslog>
                <Guidance:Pitch>
                    <Sequence />
                    <Timeout Duration="SinkDepthTimeout">
                        <Syslog Severity="Important">
                            Timed out while trying to reach target sink depth at current depth of 
                            <Universal:depth />
                            <Units:meter />
                        </Syslog>
                    </Timeout>
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="SinkDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Aggregate Id="sinkToTransit">
                    <Sequence />
                    <Break>
                        <Arg Name="OnStation" />
                    </Break>
                    <Assign>
                        <Sequence />
                        <Arg Name="DiveMode" />
                        <Arg Name="TransitToStation" />
                    </Assign>
                </Aggregate>
                <Aggregate Id="sinkToStation">
                    <Sequence />
                    <Break>
                        <Not>
                            <Arg Name="OnStation" />
                        </Not>
                    </Break>
                    <Assign>
                        <Sequence />
                        <Arg Name="DiveMode" />
                        <Arg Name="StationKeep" />
                    </Assign>
                </Aggregate>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="TransitToStation">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="TransitToStation" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Control:VerticalControl.buoyancyNeutral />
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="ApproachDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Arg Name="Speed" />
                    </Setting>
                </Guidance:SetSpeed>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="StationKeep">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="StationKeep" />
                </Eq>
            </While>
            <Assign>
                <Parallel />
                <Control:VerticalControl.depthDeadband />
                <Arg Name="DepthDeadband" />
            </Assign>
            <Guidance:Pitch>
                <Parallel />
                <Setting>
                    <Guidance:Pitch.depth />
                    <Arg Name="Depth" />
                </Setting>
            </Guidance:Pitch>
            <Guidance:KeepStation>
                <Parallel />
                <Setting>
                    <Guidance:KeepStation.latitude />
                    <Arg Name="Latitude" />
                </Setting>
                <Setting>
                    <Guidance:KeepStation.longitude />
                    <Arg Name="Longitude" />
                </Setting>
                <Setting>
                    <Guidance:KeepStation.radius />
                    <Arg Name="Radius" />
                </Setting>
                <Setting>
                    <Guidance:KeepStation.speed />
                    <Arg Name="Speed" />
                </Setting>
            </Guidance:KeepStation>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="TransitToStation">
        <Sequence />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" PriorityHere="false" />
        </Aggregate>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
        </Guidance:Waypoint>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="StationKeep" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="OnStation" />
            <True />
        </Assign>
    </Aggregate>
    <Call RefId="NeedComms" Id="OnStation" PriorityHere="false" />
    <Aggregate Id="KeepStation">
        <Sequence />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" PriorityHere="false" />
        </Aggregate>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="MissionTimeout" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
</Mission>

2026-03-13T09:26:10.558Z,1773393970.558 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2026-03-13T09:26:10.561Z,1773393970.561 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2026-03-13T09:26:10.563Z,1773393970.563 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2026-03-13T09:26:10.565Z,1773393970.565 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2026-03-13T09:26:10.567Z,1773393970.567 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2026-03-13T09:26:10.569Z,1773393970.569 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2026-03-13T09:26:10.572Z,1773393970.572 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2026-03-13T09:26:10.574Z,1773393970.574 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2026-03-13T09:26:10.604Z,1773393970.604 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2026-03-13T09:26:10.606Z,1773393970.606 [MissionManager](INFO): DefineArg keepstation.SinkOffSurface = 0 bool
2026-03-13T09:26:10.612Z,1773393970.612 [MissionManager](INFO): DefineArg keepstation.SinkDepth = 10.000000 m
2026-03-13T09:26:10.614Z,1773393970.614 [MissionManager](INFO): DefineArg keepstation.SinkDepthTimeout = 10.000000 min
2026-03-13T09:26:10.622Z,1773393970.622 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2026-03-13T09:26:10.629Z,1773393970.629 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2026-03-13T09:26:10.631Z,1773393970.631 [MissionManager](INFO): DefineOutput keepstation.DiveMode = 0.000000 count
2026-03-13T09:26:10.633Z,1773393970.633 [MissionManager](INFO): DefineOutput keepstation.DoingComms = 0.000000 count
2026-03-13T09:26:10.648Z,1773393970.648 [MissionManager](INFO): DefineOutput keepstation.SurfaceSink = 1.000000 count
2026-03-13T09:26:10.650Z,1773393970.650 [MissionManager](INFO): DefineOutput keepstation.TransitToStation = 2.000000 count
2026-03-13T09:26:10.664Z,1773393970.664 [MissionManager](INFO): DefineOutput keepstation.StationKeep = 3.000000 count
2026-03-13T09:26:10.666Z,1773393970.666 [MissionManager](INFO): DefineOutput keepstation.OnStation = 0 bool
2026-03-13T09:26:10.666Z,1773393970.666 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2026-03-13T09:26:10.666Z,1773393970.666 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2026-03-13T09:26:10.672Z,1773393970.672 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2026-03-13T09:26:11.029Z,1773393971.029 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1500</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="DoingCommsMode">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="RestoreMode">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="IsActive">
        <False />
    </DefineOutput>
    <DefineOutput Name="RequiredDiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Aggregate Id="setActive">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="RequiredDiveMode" />
            <Arg Name="DoingCommsMode" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="IsActive" />
            <True />
        </Assign>
    </Aggregate>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <Aggregate Id="setRestoreMode">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="RequiredDiveMode" />
            <Arg Name="RestoreMode" />
        </Assign>
    </Aggregate>
    <Aggregate Id="setInactive">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="IsActive" />
            <False />
        </Assign>
    </Aggregate>
</Aggregate>

2026-03-13T09:26:11.034Z,1773393971.034 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2026-03-13T09:26:11.037Z,1773393971.037 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2026-03-13T09:26:11.039Z,1773393971.039 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2026-03-13T09:26:11.041Z,1773393971.041 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2026-03-13T09:26:11.043Z,1773393971.043 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2026-03-13T09:26:11.045Z,1773393971.045 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1500.000000 s
2026-03-13T09:26:11.048Z,1773393971.048 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2026-03-13T09:26:11.050Z,1773393971.050 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2026-03-13T09:26:11.053Z,1773393971.053 [MissionManager](INFO): DefineArg keepstation:NeedComms.DoingCommsMode = 0.000000 count
2026-03-13T09:26:11.055Z,1773393971.055 [MissionManager](INFO): DefineArg keepstation:NeedComms.RestoreMode = 0.000000 count
2026-03-13T09:26:11.057Z,1773393971.057 [MissionManager](INFO): DefineOutput keepstation:NeedComms.IsActive = 0 bool
2026-03-13T09:26:11.059Z,1773393971.059 [MissionManager](INFO): DefineOutput keepstation:NeedComms.RequiredDiveMode = 0.000000 count
2026-03-13T09:26:11.116Z,1773393971.116 [keepstation:NeedComms:C.GoToSurface](DEBUG): Construct GoToSurface.
2026-03-13T09:26:11.208Z,1773393971.208 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2026-03-13T09:26:11.208Z,1773393971.208 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2026-03-13T09:26:11.209Z,1773393971.209 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2026-03-13T09:26:11.290Z,1773393971.290 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2026-03-13T09:26:11.294Z,1773393971.294 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2026-03-13T09:26:11.296Z,1773393971.296 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2026-03-13T09:26:11.298Z,1773393971.298 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2026-03-13T09:26:11.300Z,1773393971.300 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2026-03-13T09:26:11.301Z,1773393971.301 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2026-03-13T09:26:11.307Z,1773393971.307 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2026-03-13T09:26:11.338Z,1773393971.338 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2026-03-13T09:26:11.349Z,1773393971.349 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2026-03-13T09:26:11.350Z,1773393971.350 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2026-03-13T09:26:11.351Z,1773393971.351 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2026-03-13T09:26:11.379Z,1773393971.379 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2026-03-13T09:26:11.382Z,1773393971.382 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2026-03-13T09:26:11.384Z,1773393971.384 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2026-03-13T09:26:11.386Z,1773393971.386 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2026-03-13T09:26:11.387Z,1773393971.387 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2026-03-13T09:26:11.388Z,1773393971.388 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2026-03-13T09:26:11.493Z,1773393971.493 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2026-03-13T09:26:11.497Z,1773393971.497 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2026-03-13T09:26:11.498Z,1773393971.498 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2026-03-13T09:26:11.500Z,1773393971.500 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2026-03-13T09:26:11.502Z,1773393971.502 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2026-03-13T09:26:11.504Z,1773393971.504 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 0 bool
2026-03-13T09:26:11.510Z,1773393971.510 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2026-03-13T09:26:11.512Z,1773393971.512 [keepstation:H.Pitch](DEBUG): Construct.
2026-03-13T09:26:11.632Z,1773393971.632 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2026-03-13T09:26:11.634Z,1773393971.634 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2026-03-13T09:26:11.641Z,1773393971.641 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2026-03-13T09:26:11.660Z,1773393971.660 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Construct Buoyancy.
2026-03-13T09:26:11.662Z,1773393971.662 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Construct.
2026-03-13T09:26:11.666Z,1773393971.666 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Construct.
2026-03-13T09:26:11.671Z,1773393971.671 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Construct.
2026-03-13T09:26:11.675Z,1773393971.675 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Construct KeepStation.
2026-03-13T09:26:11.683Z,1773393971.683 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2026-03-13T09:26:11.702Z,1773393971.702 [keepstation:KeepStation:B.Wait](DEBUG): Construct Wait.
2026-03-13T09:26:11.720Z,1773393971.720 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission keepstation {
  """
  Vehicle transits to desired waypoint (or stays put if none is commanded)
  and stays within the specified radius.
  """

  arguments {
    MissionTimeout = 4 hour
      """
      Maximum duration of mission
      """

    NeedCommsTime = 45 minute
      """
      How often to surface for communications
      """

    Latitude = NaN degree
      """
      Latitude of waypoint to hold. If NaN, hold the latitude at start of
      mission.
      """

    Longitude = NaN degree
      """
      Longitude of waypoint to hold. If NaN, hold the longitude at start of
      mission.
      """

    Depth = 30 meter
      """
      Depth held during drift mode
      """

    ApproachDepth = 15 meter
      """
      Depth for initial approach to station.
      """

    DepthDeadband = 4 meter
      """
      How much vertical drift from the specified depth is allowed in drift
      mode
      """

    Speed = 0.75 meter_per_second
      """
      Vehicle transit speed.
      """

    Radius = 200 meter
      """
      Radius of circle around waypoint to hold.
      """

    SinkOffSurface = false
      """
      If true, use buoyancy only to decend to SinkDepth before driving to first target depth
      """

    SinkDepth = 10 meter
      """
      Initial depth to decend using only buoyancy before driving
      """

    SinkDepthTimeout = 10 minute
      """
      Max wait time for the vehicle to reach the target depth
      """

    MaxDepth = 45 meter
      """
      Maximum allowable depth during the mission.
      """

    MinOffshore = 2 kilometer
      """
      Minimum distance from the shoreline to maintain
      """
  }

  output {
    DiveMode = 0 count
      """
      Mission variable (don't change). The mission sets this variable to
      switch between dive modes. Initialized to DoingComms.
      """

    DoingComms = 0 count
      """
      Mission variable (don't change). The mission will run in this mode
      when doing surface comms.
      """

    SurfaceSink = 1 count
      """
      Mission variable (don't change). The mission will run in this mode
      when sinking from the surface using only buoyancy.
      """

    TransitToStation = 2 count
      """
      Mission variable (don't change). The mission will run in this mode
      when performing the transit to station
      """

    StationKeep = 3 count
      """
      Mission variable (don't change). The mission will run in this mode
      when keeping station
      """

    OnStation = false
      """
      Mission variable (don't change). Determines last mode (Transit or StationKeep)
      to resume after needcomms
      """
  }

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  behavior Guidance:Pitch {
    run in parallel

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate SurfaceComms {
    run when (
      called
      or ( elapsed ( Universal:time_fix ) > NeedCommsTime )
    )

    assign in sequence DiveMode = DoingComms

    call priorityHere=false refId="NeedComms"

    aggregate HandleNan {
      run in sequence

      break if (
        not isNaN ( Latitude )
        and not isNaN ( Longitude )
      )

      # If both lat and lon are nan, we are implicitly on station and should skip initial transit, so force OnStation to true
      aggregate SetOnStation {
        run in sequence

        break if (
          not isNaN ( Latitude )
          or not isNaN ( Longitude )
        )

        assign in sequence OnStation = true
      }

      # The "assigns" here mean we should only ever run these aggregates once
      # An initial NaN lat/lon should be set here during the initial surface NeedComms call
      # Use the most recent fix -- if there isn't one, the keepstation behavior will use Universal:lat/lon
      aggregate SetLat {
        run in sequence

        break if ( not isNaN ( Latitude ) )

        assign in sequence Latitude = Universal:latitude_fix
      }

      aggregate SetLon {
        run in sequence

        break if ( not isNaN ( Longitude ) )

        assign in sequence Longitude = Universal:longitude_fix
      }
    }

    aggregate setTransit {
      run in sequence

      break if (
        SinkOffSurface
        or OnStation
      )

      assign in sequence DiveMode = TransitToStation
    }

    aggregate setStation {
      run in sequence

      break if (
        SinkOffSurface
        or not OnStation
      )

      assign in sequence DiveMode = StationKeep
    }

    aggregate setSink {
      run in sequence

      break if ( not SinkOffSurface )

      assign in sequence DiveMode = SurfaceSink
    }
  }

  call id="StartingMission" priorityHere=false refId="SurfaceComms"

  aggregate DiveCmd {
    run when ( called )

    aggregate SurfaceSink {
      run while ( DiveMode == SurfaceSink )

      aggregate sink {
        run in sequence

        behavior Guidance:Buoyancy id="BuoyancyHold" {
          run in parallel

          set position = NaN cc
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = 0 m/s
        }

        syslog info "Sinking to " + SinkDepth~meter

        behavior Guidance:Pitch {
          run in sequence

          timeout duration=SinkDepthTimeout {
            syslog important "Timed out while trying to reach target sink depth at current depth of "
                 + Universal:depth~meter
          }

          set depth = SinkDepth
        }

        # Once we've sunk, either resume transit or station keeping depths and speeds
        aggregate sinkToTransit {
          run in sequence

          break if ( OnStation )

          assign in sequence DiveMode = TransitToStation
        }

        aggregate sinkToStation {
          run in sequence

          break if ( not OnStation )

          assign in sequence DiveMode = StationKeep
        }
      }
    }

    aggregate TransitToStation {
      run while ( DiveMode == TransitToStation )

      aggregate dive {
        run in sequence

        behavior Guidance:Buoyancy {
          run in parallel

          set position = Control:VerticalControl.buoyancyNeutral
        }

        behavior Guidance:Pitch {
          run in parallel

          set depth = ApproachDepth
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = Speed
        }
      }
    }

    aggregate StationKeep {
      run while ( DiveMode == StationKeep )

      assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband

      behavior Guidance:Pitch {
        run in parallel

        set depth = Depth
      }

      behavior Guidance:KeepStation {
        run in parallel

        set latitude = Latitude
        set longitude = Longitude
        set radius = Radius
        set speed = Speed
      }
    }
  }

  aggregate TransitToStation {
    """
    Need a separate aggregate for transit if we want to specify a
    different depth for the approach.
    """

    run in sequence

    aggregate Dive {
      run while ( not ( DiveMode == DoingComms ) )

      call priorityHere=false refId="DiveCmd"
    }

    behavior Guidance:Waypoint id="Wpt1" {
      run in sequence

      set latitude = Latitude
      set longitude = Longitude
    }

    assign in sequence DiveMode = StationKeep
    assign in sequence OnStation = true
  }

  call id="OnStation" priorityHere=false refId="NeedComms"

  aggregate KeepStation {
    run in sequence

    aggregate Dive {
      run while ( not ( DiveMode == DoingComms ) )

      call priorityHere=false refId="DiveCmd"
    }

    behavior Guidance:Wait {
      """
      Due to the way the KeepStation behavior is currently
      implemented, we must run it in parallel and use a Wait to keep
      from completing the mission before the timeout expires. However,
      this new version of the mission uses a top-level timeout so that
      the entire mission will not run for longer then MissionTimeout.
      """

      run in sequence

      set duration = MissionTimeout
    }
  }
}


2026-03-13T09:26:11.720Z,1773393971.720 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2026-03-13T09:26:11.980Z,1773393971.980 [MissionManager](IMPORTANT): Started mission Default
2026-03-13T09:26:11.980Z,1773393971.980 [Default] Running Loop=1
2026-03-13T09:26:11.980Z,1773393971.980 [Default](DEBUG): Aggregate::initialize Default
2026-03-13T09:26:11.980Z,1773393971.980 [Default:B.GoToSurface] Running Loop=1
2026-03-13T09:26:11.980Z,1773393971.980 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-03-13T09:26:11.981Z,1773393971.981 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2026-03-13T09:26:11.981Z,1773393971.981 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2026-03-13T09:26:11.981Z,1773393971.981 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2026-03-13T09:26:11.982Z,1773393971.982 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2026-03-13T09:26:11.982Z,1773393971.982 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-03-13T09:26:11.982Z,1773393971.982 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-03-13T09:26:11.982Z,1773393971.982 [Default:A.Wait] Running Loop=1
2026-03-13T09:26:11.982Z,1773393971.982 [Default:A.Wait](DEBUG): Initialize Wait Component.
2026-03-13T09:26:20.999Z,1773393980.999 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20260313T044322/Courier0051.lzma
2026-03-13T09:26:22.001Z,1773393982.001 [DataOverHttps](INFO): Moved sent file to Logs/20260313T044322/Courier0051.lzma.bak
2026-03-13T09:26:22.001Z,1773393982.001 [DataOverHttps](INFO): SBD MOMSN=26731343
2026-03-13T09:26:25.309Z,1773393985.309 [Default:A.Wait](INFO): Done Waiting.
2026-03-13T09:26:25.309Z,1773393985.309 [Default:A.Wait] Stopped
2026-03-13T09:26:25.309Z,1773393985.309 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2026-03-13T09:26:25.714Z,1773393985.714 [Default:CheckIn] Running Loop=1
2026-03-13T09:26:25.714Z,1773393985.714 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2026-03-13T09:26:25.714Z,1773393985.714 [Default:CheckIn:Read_GPS] Running Loop=1
2026-03-13T09:26:27.706Z,1773393987.706 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,092627.00,A,3648.39023,N,12150.59031,W,0.836,6.72,130326,,,D*71
2026-03-13T09:26:27.708Z,1773393987.708 [NAL9602](INFO): GPS fix at 20260313T092627: (36.806504, -121.843172)
2026-03-13T09:26:27.759Z,1773393987.759 [Default:CheckIn:Read_GPS] Stopped
2026-03-13T09:26:27.759Z,1773393987.759 [Default:CheckIn:Read_Iridium] Running Loop=1
2026-03-13T09:26:28.391Z,1773393988.391 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 12 hour
2026-03-13T09:26:28.392Z,1773393988.392 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 60 minute
2026-03-13T09:26:28.393Z,1773393988.393 [CommandExec](IMPORTANT): got command set keepstation.Latitude 36.797 degree
2026-03-13T09:26:28.394Z,1773393988.394 [CommandExec](IMPORTANT): got command set keepstation.Longitude -121.847 degree
2026-03-13T09:26:28.394Z,1773393988.394 [CommandExec](IMPORTANT): got command set keepstation.Speed 1 meter_per_second
2026-03-13T09:26:28.395Z,1773393988.395 [CommandExec](IMPORTANT): got command run
2026-03-13T09:26:28.398Z,1773393988.398 [CommandExec](IMPORTANT): Running 
2026-03-13T09:26:28.538Z,1773393988.538 [Default] Stopped
2026-03-13T09:26:28.538Z,1773393988.538 [Default](DEBUG): Aggregate::uninitialize Default
2026-03-13T09:26:28.539Z,1773393988.539 [Default:B.GoToSurface] Stopped
2026-03-13T09:26:28.539Z,1773393988.539 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-03-13T09:26:28.539Z,1773393988.539 [Default:CheckIn] Stopped
2026-03-13T09:26:28.539Z,1773393988.539 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2026-03-13T09:26:28.539Z,1773393988.539 [Default:CheckIn:Read_Iridium] Stopped
2026-03-13T09:26:28.539Z,1773393988.539 [MissionManager](IMPORTANT): Started mission keepstation
2026-03-13T09:26:28.539Z,1773393988.539 [keepstation] Running Loop=1
2026-03-13T09:26:28.540Z,1773393988.540 [keepstation](DEBUG): Aggregate::initialize keepstation
2026-03-13T09:26:28.540Z,1773393988.540 [keepstation:StandardEnvelopes] Running Loop=1
2026-03-13T09:26:28.540Z,1773393988.540 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2026-03-13T09:26:28.540Z,1773393988.540 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2026-03-13T09:26:28.540Z,1773393988.540 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2026-03-13T09:26:28.540Z,1773393988.540 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2026-03-13T09:26:28.540Z,1773393988.540 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2026-03-13T09:26:28.540Z,1773393988.540 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2026-03-13T09:26:28.540Z,1773393988.540 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2026-03-13T09:26:28.541Z,1773393988.541 [keepstation:BackseatDriver] Running Loop=1
2026-03-13T09:26:28.541Z,1773393988.541 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2026-03-13T09:26:28.541Z,1773393988.541 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2026-03-13T09:26:28.541Z,1773393988.541 [keepstation:PowerOnly] Running Loop=1
2026-03-13T09:26:28.541Z,1773393988.541 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2026-03-13T09:26:28.541Z,1773393988.541 [keepstation:PowerOnly:A] Running Loop=1
2026-03-13T09:26:28.541Z,1773393988.541 [keepstation:PowerOnly:B] Running Loop=1
2026-03-13T09:26:28.541Z,1773393988.541 [keepstation:PowerOnly:C] Running Loop=1
2026-03-13T09:26:28.541Z,1773393988.541 [keepstation:PowerOnly:D] Running Loop=1
2026-03-13T09:26:28.541Z,1773393988.541 [keepstation:PowerOnly:E.Wait] Running Loop=1
2026-03-13T09:26:28.541Z,1773393988.541 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2026-03-13T09:26:28.542Z,1773393988.542 [keepstation:H.Pitch] Running Loop=1
2026-03-13T09:26:28.542Z,1773393988.542 [keepstation:H.Pitch](DEBUG): Initialize.
2026-03-13T09:26:28.542Z,1773393988.542 [keepstation:B] Running Loop=1
2026-03-13T09:26:28.543Z,1773393988.543 [keepstation:H.Pitch] Running Loop=1
2026-03-13T09:26:28.543Z,1773393988.543 [keepstation:PowerOnly] Running Loop=1
2026-03-13T09:26:28.543Z,1773393988.543 [keepstation:PowerOnly:D] Stopped
2026-03-13T09:26:28.543Z,1773393988.543 [keepstation:PowerOnly:C] Stopped
2026-03-13T09:26:28.544Z,1773393988.544 [keepstation:PowerOnly:B] Stopped
2026-03-13T09:26:28.544Z,1773393988.544 [keepstation:PowerOnly:A] Stopped
2026-03-13T09:26:28.544Z,1773393988.544 [keepstation:BackseatDriver] Running Loop=1
2026-03-13T09:26:28.544Z,1773393988.544 [keepstation:StandardEnvelopes] Running Loop=1
2026-03-13T09:26:28.544Z,1773393988.544 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2026-03-13T09:26:28.544Z,1773393988.544 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2026-03-13T09:26:28.545Z,1773393988.545 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2026-03-13T09:26:28.545Z,1773393988.545 [keepstation:B] Stopped
2026-03-13T09:26:28.545Z,1773393988.545 [keepstation:D] Running Loop=1
2026-03-13T09:26:28.950Z,1773393988.950 [keepstation:D] Stopped
2026-03-13T09:26:28.950Z,1773393988.950 [keepstation:E] Running Loop=1
2026-03-13T09:26:29.363Z,1773393989.363 [keepstation:E] Stopped
2026-03-13T09:26:29.363Z,1773393989.363 [keepstation:StartingMission] Running Loop=1
2026-03-13T09:26:29.363Z,1773393989.363 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2026-03-13T09:26:29.762Z,1773393989.762 [keepstation:SurfaceComms] Running Loop=1
2026-03-13T09:26:29.763Z,1773393989.763 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms
2026-03-13T09:26:29.763Z,1773393989.763 [keepstation:SurfaceComms:A] Running Loop=1
2026-03-13T09:26:29.779Z,1773393989.779 [keepstation:SurfaceComms:A] Stopped
2026-03-13T09:26:29.779Z,1773393989.779 [keepstation:SurfaceComms:B] Running Loop=1
2026-03-13T09:26:29.780Z,1773393989.780 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B
2026-03-13T09:26:30.178Z,1773393990.178 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2026-03-13T09:26:30.178Z,1773393990.178 [keepstation:NeedComms] Running Loop=1
2026-03-13T09:26:30.178Z,1773393990.178 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2026-03-13T09:26:30.178Z,1773393990.178 [keepstation:NeedComms:C.GoToSurface] Running Loop=1
2026-03-13T09:26:30.178Z,1773393990.178 [keepstation:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-03-13T09:26:30.178Z,1773393990.178 [keepstation:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2026-03-13T09:26:30.179Z,1773393990.179 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2026-03-13T09:26:30.179Z,1773393990.179 [keepstation:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2026-03-13T09:26:30.196Z,1773393990.196 [keepstation:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2026-03-13T09:26:30.196Z,1773393990.196 [keepstation:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-03-13T09:26:30.196Z,1773393990.196 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-03-13T09:26:30.197Z,1773393990.197 [keepstation:NeedComms:A] Running Loop=1
2026-03-13T09:26:30.198Z,1773393990.198 [keepstation:NeedComms:A](INFO): last time_fix was:  1773393987.000000 second since 1970/01/01T00:00:00Z 
2026-03-13T09:26:30.198Z,1773393990.198 [keepstation:NeedComms:A] Stopped
2026-03-13T09:26:30.198Z,1773393990.198 [keepstation:NeedComms:setActive] Running Loop=1
2026-03-13T09:26:30.198Z,1773393990.198 [keepstation:NeedComms:setActive](DEBUG): Aggregate::initialize keepstation:NeedComms:setActive
2026-03-13T09:26:30.198Z,1773393990.198 [keepstation:NeedComms:setActive:A] Running Loop=1
2026-03-13T09:26:30.569Z,1773393990.569 [keepstation:NeedComms:setActive:A] Stopped
2026-03-13T09:26:30.569Z,1773393990.569 [keepstation:NeedComms:setActive:B] Running Loop=1
2026-03-13T09:26:30.981Z,1773393990.981 [keepstation:NeedComms:setActive:B] Stopped
2026-03-13T09:26:30.981Z,1773393990.981 [keepstation:NeedComms:setActive](INFO): Completed keepstation:NeedComms:setActive
2026-03-13T09:26:30.981Z,1773393990.981 [keepstation:NeedComms:setActive] Stopped
2026-03-13T09:26:30.981Z,1773393990.981 [keepstation:NeedComms:setActive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setActive
2026-03-13T09:26:31.368Z,1773393991.368 [keepstation:NeedComms:D] Running Loop=1
2026-03-13T09:26:31.777Z,1773393991.777 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense time_fix
2026-03-13T09:26:44.294Z,1773394004.294 [NAL9602](INFO): SBD MO Status=0, MOMSN=32776, MT Status=0, MTMSN=0
2026-03-13T09:26:44.294Z,1773394004.294 [NAL9602](INFO): No messages in MT queue
2026-03-13T09:26:45.499Z,1773394005.499 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,092644.00,A,3648.39218,N,12150.59151,W,0.855,308.70,130326,,,D*73
2026-03-13T09:26:45.505Z,1773394005.505 [NAL9602](INFO): GPS fix at 20260313T092644: (36.806536, -121.843192)
2026-03-13T09:26:45.526Z,1773394005.526 [keepstation:NeedComms:D] Stopped
2026-03-13T09:26:45.526Z,1773394005.526 [keepstation:NeedComms:E] Running Loop=1
2026-03-13T09:26:45.938Z,1773394005.938 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense platform_communications
2026-03-13T09:27:00.127Z,1773394020.127 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20260313T044322/Courier0054.lzma
2026-03-13T09:27:01.129Z,1773394021.129 [DataOverHttps](INFO): Moved sent file to Logs/20260313T044322/Courier0054.lzma.bak
2026-03-13T09:27:01.129Z,1773394021.129 [DataOverHttps](INFO): SBD MOMSN=26731362
2026-03-13T09:27:17.127Z,1773394037.127 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20260313T044322/Courier0057.lzma
2026-03-13T09:27:17.519Z,1773394037.519 [NAL9602](INFO): Not Powering down - fast GPS
2026-03-13T09:27:18.129Z,1773394038.129 [DataOverHttps](INFO): Moved sent file to Logs/20260313T044322/Courier0057.lzma.bak
2026-03-13T09:27:18.129Z,1773394038.129 [DataOverHttps](INFO): SBD MOMSN=26731375
2026-03-13T09:27:35.327Z,1773394055.327 [DataOverHttps](INFO): Sending 123 bytes from file Logs/20260313T044322/Express0043.lzma
2026-03-13T09:27:36.329Z,1773394056.329 [DataOverHttps](INFO): Moved sent file to Logs/20260313T044322/Express0043.lzma.bak
2026-03-13T09:27:36.330Z,1773394056.330 [DataOverHttps](INFO): SBD MOMSN=26731379
2026-03-13T09:27:54.224Z,1773394074.224 [DataOverHttps](INFO): Sending 568 bytes from file Logs/20260313T044322/Express0046.lzma
2026-03-13T09:27:55.225Z,1773394075.225 [DataOverHttps](INFO): Moved sent file to Logs/20260313T044322/Express0046.lzma.bak
2026-03-13T09:27:55.225Z,1773394075.225 [DataOverHttps](INFO): SBD MOMSN=26731385
2026-03-13T09:28:11.307Z,1773394091.307 [DataOverHttps](INFO): Sending 63 bytes from file Logs/20260313T044322/Express0049.lzma
2026-03-13T09:28:12.309Z,1773394092.309 [DataOverHttps](INFO): Moved sent file to Logs/20260313T044322/Express0049.lzma.bak
2026-03-13T09:28:12.309Z,1773394092.309 [DataOverHttps](INFO): SBD MOMSN=26731400
2026-03-13T09:28:28.335Z,1773394108.335 [DataOverHttps](INFO): Sending 248 bytes from file Logs/20260313T044322/Express0052.lzma
2026-03-13T09:28:29.337Z,1773394109.337 [DataOverHttps](INFO): Moved sent file to Logs/20260313T044322/Express0052.lzma.bak
2026-03-13T09:28:29.338Z,1773394109.338 [DataOverHttps](INFO): SBD MOMSN=26731404
2026-03-13T09:28:45.247Z,1773394125.247 [DataOverHttps](INFO): Sending 243 bytes from file Logs/20260313T044322/Express0055.lzma
2026-03-13T09:28:46.249Z,1773394126.249 [DataOverHttps](INFO): Moved sent file to Logs/20260313T044322/Express0055.lzma.bak
2026-03-13T09:28:46.250Z,1773394126.250 [DataOverHttps](INFO): SBD MOMSN=26731413
2026-03-13T09:29:05.587Z,1773394145.587 [DataOverHttps](INFO): Sending 196 bytes from file Logs/20260313T044322/Express0056.lzma
2026-03-13T09:29:06.589Z,1773394146.589 [DataOverHttps](INFO): Moved sent file to Logs/20260313T044322/Express0056.lzma.bak
2026-03-13T09:29:06.589Z,1773394146.589 [DataOverHttps](INFO): SBD MOMSN=26731419
2026-03-13T09:29:22.595Z,1773394162.595 [DataOverHttps](INFO): Sending 130 bytes from file Logs/20260313T044322/Express0058.lzma
2026-03-13T09:29:23.597Z,1773394163.597 [DataOverHttps](INFO): Moved sent file to Logs/20260313T044322/Express0058.lzma.bak
2026-03-13T09:29:23.598Z,1773394163.598 [DataOverHttps](INFO): SBD MOMSN=26731428
2026-03-13T09:29:39.459Z,1773394179.459 [DataOverHttps](INFO): Sending 63 bytes from file Logs/20260313T044322/Express0061.lzma
2026-03-13T09:29:40.461Z,1773394180.461 [DataOverHttps](INFO): Moved sent file to Logs/20260313T044322/Express0061.lzma.bak
2026-03-13T09:29:40.462Z,1773394180.462 [DataOverHttps](INFO): SBD MOMSN=26731431
2026-03-13T09:29:41.894Z,1773394181.894 [keepstation:NeedComms:E] Stopped
2026-03-13T09:29:41.894Z,1773394181.894 [keepstation:NeedComms:F] Running Loop=1
2026-03-13T09:29:42.306Z,1773394182.306 [keepstation:NeedComms:F](DEBUG): Initialize ReadDataComponent to sense time_fix
2026-03-13T09:29:43.894Z,1773394183.894 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,092943.00,A,3648.41272,N,12150.59969,W,0.486,327.03,130326,,,D*70
2026-03-13T09:29:43.897Z,1773394183.897 [NAL9602](INFO): GPS fix at 20260313T092943: (36.806879, -121.843328)
2026-03-13T09:29:43.922Z,1773394183.922 [keepstation:NeedComms:F] Stopped
2026-03-13T09:29:43.922Z,1773394183.922 [keepstation:NeedComms:setRestoreMode] Running Loop=1
2026-03-13T09:29:43.922Z,1773394183.922 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::initialize keepstation:NeedComms:setRestoreMode
2026-03-13T09:29:43.922Z,1773394183.922 [keepstation:NeedComms:setRestoreMode:A] Running Loop=1
2026-03-13T09:29:44.349Z,1773394184.349 [keepstation:NeedComms:setRestoreMode:A] Stopped
2026-03-13T09:29:44.349Z,1773394184.349 [keepstation:NeedComms:setRestoreMode](INFO): Completed keepstation:NeedComms:setRestoreMode
2026-03-13T09:29:44.349Z,1773394184.349 [keepstation:NeedComms:setRestoreMode] Stopped
2026-03-13T09:29:44.349Z,1773394184.349 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setRestoreMode
2026-03-13T09:29:44.350Z,1773394184.350 [keepstation:NeedComms:setInactive] Running Loop=1
2026-03-13T09:29:44.350Z,1773394184.350 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::initialize keepstation:NeedComms:setInactive
2026-03-13T09:29:44.350Z,1773394184.350 [keepstation:NeedComms:setInactive:A] Running Loop=1
2026-03-13T09:29:44.742Z,1773394184.742 [keepstation:NeedComms:setInactive:A] Stopped
2026-03-13T09:29:44.742Z,1773394184.742 [keepstation:NeedComms:setInactive](INFO): Completed keepstation:NeedComms:setInactive
2026-03-13T09:29:44.742Z,1773394184.742 [keepstation:NeedComms:setInactive] Stopped
2026-03-13T09:29:44.742Z,1773394184.742 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setInactive
2026-03-13T09:29:44.747Z,1773394184.747 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2026-03-13T09:29:44.747Z,1773394184.747 [keepstation:NeedComms] Stopped
2026-03-13T09:29:44.747Z,1773394184.747 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2026-03-13T09:29:44.748Z,1773394184.748 [keepstation:NeedComms:C.GoToSurface] Stopped
2026-03-13T09:29:44.748Z,1773394184.748 [keepstation:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-03-13T09:29:45.125Z,1773394185.125 [keepstation:SurfaceComms:B](INFO): Completed keepstation:SurfaceComms:B
2026-03-13T09:29:45.125Z,1773394185.125 [keepstation:SurfaceComms:B] Stopped
2026-03-13T09:29:45.125Z,1773394185.125 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B
2026-03-13T09:29:45.125Z,1773394185.125 [keepstation:SurfaceComms:HandleNan] Running Loop=1
2026-03-13T09:29:45.125Z,1773394185.125 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan
2026-03-13T09:29:45.125Z,1773394185.125 [keepstation:SurfaceComms:HandleNan:SetOnStation] Running Loop=1
2026-03-13T09:29:45.125Z,1773394185.125 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan:SetOnStation
2026-03-13T09:29:45.125Z,1773394185.125 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Running Loop=1
2026-03-13T09:29:45.551Z,1773394185.551 [keepstation:SurfaceComms:HandleNan] Stopped
2026-03-13T09:29:45.575Z,1773394185.575 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan
2026-03-13T09:29:45.575Z,1773394185.575 [keepstation:SurfaceComms:HandleNan:SetOnStation] Stopped
2026-03-13T09:29:45.575Z,1773394185.575 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan:SetOnStation
2026-03-13T09:29:45.576Z,1773394185.576 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Stopped
2026-03-13T09:29:45.576Z,1773394185.576 [keepstation:SurfaceComms:setTransit] Running Loop=1
2026-03-13T09:29:45.576Z,1773394185.576 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setTransit
2026-03-13T09:29:45.576Z,1773394185.576 [keepstation:SurfaceComms:setTransit:A] Running Loop=1
2026-03-13T09:29:45.948Z,1773394185.948 [keepstation:SurfaceComms:setTransit:A] Stopped
2026-03-13T09:29:45.948Z,1773394185.948 [keepstation:SurfaceComms:setTransit](INFO): Completed keepstation:SurfaceComms:setTransit
2026-03-13T09:29:45.948Z,1773394185.948 [keepstation:SurfaceComms:setTransit] Stopped
2026-03-13T09:29:45.948Z,1773394185.948 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setTransit
2026-03-13T09:29:45.948Z,1773394185.948 [keepstation:SurfaceComms:setStation] Running Loop=1
2026-03-13T09:29:45.949Z,1773394185.949 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setStation
2026-03-13T09:29:45.949Z,1773394185.949 [keepstation:SurfaceComms:setStation:A] Running Loop=1
2026-03-13T09:29:46.364Z,1773394186.364 [keepstation:SurfaceComms:setStation] Stopped
2026-03-13T09:29:46.364Z,1773394186.364 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setStation
2026-03-13T09:29:46.364Z,1773394186.364 [keepstation:SurfaceComms:setStation:A] Stopped
2026-03-13T09:29:46.364Z,1773394186.364 [keepstation:SurfaceComms:setSink] Running Loop=1
2026-03-13T09:29:46.364Z,1773394186.364 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setSink
2026-03-13T09:29:46.364Z,1773394186.364 [keepstation:SurfaceComms:setSink:A] Running Loop=1
2026-03-13T09:29:46.740Z,1773394186.740 [keepstation:SurfaceComms:setSink] Stopped
2026-03-13T09:29:46.740Z,1773394186.740 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setSink
2026-03-13T09:29:46.740Z,1773394186.740 [keepstation:SurfaceComms:setSink:A] Stopped
2026-03-13T09:29:46.740Z,1773394186.740 [keepstation:SurfaceComms](INFO): Completed keepstation:SurfaceComms
2026-03-13T09:29:46.740Z,1773394186.740 [keepstation:SurfaceComms] Stopped
2026-03-13T09:29:46.740Z,1773394186.740 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms
2026-03-13T09:29:47.141Z,1773394187.141 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2026-03-13T09:29:47.141Z,1773394187.141 [keepstation:StartingMission] Stopped
2026-03-13T09:29:47.141Z,1773394187.141 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2026-03-13T09:29:47.141Z,1773394187.141 [keepstation:TransitToStation] Running Loop=1
2026-03-13T09:29:47.141Z,1773394187.141 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2026-03-13T09:29:47.141Z,1773394187.141 [keepstation:TransitToStation:Dive] Running Loop=1
2026-03-13T09:29:47.141Z,1773394187.141 [keepstation:TransitToStation:Dive](DEBUG): Aggregate::initialize keepstation:TransitToStation:Dive
2026-03-13T09:29:47.141Z,1773394187.141 [keepstation:TransitToStation:Dive:A] Running Loop=1
2026-03-13T09:29:47.141Z,1773394187.141 [keepstation:TransitToStation:Dive:A](DEBUG): Aggregate::initialize keepstation:TransitToStation:Dive:A
2026-03-13T09:29:47.142Z,1773394187.142 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2026-03-13T09:29:47.142Z,1773394187.142 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2026-03-13T09:29:47.143Z,1773394187.143 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2026-03-13T09:29:47.547Z,1773394187.547 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2026-03-13T09:29:47.548Z,1773394187.548 [keepstation:TransitToStation:Dive] Running Loop=1
2026-03-13T09:29:47.548Z,1773394187.548 [keepstation:DiveCmd] Running Loop=1
2026-03-13T09:29:47.548Z,1773394187.548 [keepstation:DiveCmd](DEBUG): Aggregate::initialize keepstation:DiveCmd
2026-03-13T09:29:47.548Z,1773394187.548 [keepstation:DiveCmd:SurfaceSink] Running Loop=1
2026-03-13T09:29:47.548Z,1773394187.548 [keepstation:DiveCmd:SurfaceSink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink
2026-03-13T09:29:47.548Z,1773394187.548 [keepstation:DiveCmd:SurfaceSink:sink] Running Loop=1
2026-03-13T09:29:47.548Z,1773394187.548 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink:sink
2026-03-13T09:29:47.548Z,1773394187.548 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2026-03-13T09:29:47.548Z,1773394187.548 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-03-13T09:29:47.549Z,1773394187.549 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2026-03-13T09:29:47.549Z,1773394187.549 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2026-03-13T09:29:47.549Z,1773394187.549 [keepstation:DiveCmd:SurfaceSink:sink:C] Running Loop=1
2026-03-13T09:29:47.549Z,1773394187.549 [keepstation:DiveCmd:TransitToStation] Running Loop=1
2026-03-13T09:29:47.549Z,1773394187.549 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation
2026-03-13T09:29:47.549Z,1773394187.549 [keepstation:DiveCmd:TransitToStation:dive] Running Loop=1
2026-03-13T09:29:47.550Z,1773394187.550 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation:dive
2026-03-13T09:29:47.550Z,1773394187.550 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Running Loop=1
2026-03-13T09:29:47.550Z,1773394187.550 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-03-13T09:29:47.550Z,1773394187.550 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Running Loop=1
2026-03-13T09:29:47.550Z,1773394187.550 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Initialize.
2026-03-13T09:29:47.550Z,1773394187.550 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Running Loop=1
2026-03-13T09:29:47.550Z,1773394187.550 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Initialize.
2026-03-13T09:29:47.550Z,1773394187.550 [keepstation:DiveCmd:StationKeep] Running Loop=1
2026-03-13T09:29:47.550Z,1773394187.550 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::initialize keepstation:DiveCmd:StationKeep
2026-03-13T09:29:47.550Z,1773394187.550 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2026-03-13T09:29:47.551Z,1773394187.551 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2026-03-13T09:29:47.551Z,1773394187.551 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Initialize.
2026-03-13T09:29:47.551Z,1773394187.551 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2026-03-13T09:29:47.551Z,1773394187.551 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2026-03-13T09:29:47.552Z,1773394187.552 [keepstation:DiveCmd:StationKeep] Stopped
2026-03-13T09:29:47.552Z,1773394187.552 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:StationKeep
2026-03-13T09:29:47.552Z,1773394187.552 [keepstation:DiveCmd:StationKeep:A] Stopped
2026-03-13T09:29:47.552Z,1773394187.552 [keepstation:DiveCmd:StationKeep:B.Pitch] Stopped
2026-03-13T09:29:47.552Z,1773394187.552 [keepstation:DiveCmd:StationKeep:C.KeepStation] Stopped
2026-03-13T09:29:47.552Z,1773394187.552 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2026-03-13T09:29:47.552Z,1773394187.552 [keepstation:DiveCmd:TransitToStation] Running Loop=1
2026-03-13T09:29:47.552Z,1773394187.552 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Running Loop=1
2026-03-13T09:29:47.553Z,1773394187.553 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Running Loop=1
2026-03-13T09:29:47.553Z,1773394187.553 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Running Loop=1
2026-03-13T09:29:47.553Z,1773394187.553 [keepstation:DiveCmd:SurfaceSink] Stopped
2026-03-13T09:29:47.553Z,1773394187.553 [keepstation:DiveCmd:SurfaceSink](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink
2026-03-13T09:29:47.553Z,1773394187.553 [keepstation:DiveCmd:SurfaceSink:sink] Stopped
2026-03-13T09:29:47.554Z,1773394187.554 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink:sink
2026-03-13T09:29:47.554Z,1773394187.554 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2026-03-13T09:29:47.554Z,1773394187.554 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-03-13T09:29:47.554Z,1773394187.554 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Stopped
2026-03-13T09:29:47.554Z,1773394187.554 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2026-03-13T09:29:47.554Z,1773394187.554 [keepstation:DiveCmd:SurfaceSink:sink:C] Stopped
2026-03-13T09:29:56.900Z,1773394196.900 [NAL9602](INFO): SBD MO Status=0, MOMSN=32777, MT Status=0, MTMSN=0
2026-03-13T09:29:56.900Z,1773394196.900 [NAL9602](INFO): No messages in MT queue
2026-03-13T09:30:27.308Z,1773394227.308 [NAL9602](INFO): Not Powering down - fast GPS
2026-03-13T09:30:42.400Z,1773394242.400 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2026-03-13T09:31:13.524Z,1773394273.524 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T09:31:44.648Z,1773394304.648 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T09:32:00.992Z,1773394320.992 [Radio_Surface](INFO): Powering down
2026-03-13T09:32:15.788Z,1773394335.788 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T09:32:16.792Z,1773394336.792 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2026-03-13T09:32:49.924Z,1773394369.924 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.826599
2026-03-13T09:54:45.341Z,1773395685.341 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.797001,-121.847000
2026-03-13T09:54:45.341Z,1773395685.341 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2026-03-13T09:54:45.341Z,1773395685.341 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2026-03-13T09:54:45.342Z,1773395685.342 [keepstation:TransitToStation:C] Running Loop=1
2026-03-13T09:54:45.744Z,1773395685.744 [keepstation:TransitToStation:C] Stopped
2026-03-13T09:54:45.744Z,1773395685.744 [keepstation:TransitToStation:D] Running Loop=1
2026-03-13T09:54:45.744Z,1773395685.744 [keepstation:DiveCmd:StationKeep] Running Loop=1
2026-03-13T09:54:45.744Z,1773395685.744 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::initialize keepstation:DiveCmd:StationKeep
2026-03-13T09:54:45.745Z,1773395685.745 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2026-03-13T09:54:45.745Z,1773395685.745 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2026-03-13T09:54:45.745Z,1773395685.745 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Initialize.
2026-03-13T09:54:45.745Z,1773395685.745 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2026-03-13T09:54:45.745Z,1773395685.745 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2026-03-13T09:54:45.745Z,1773395685.745 [keepstation:DiveCmd:StationKeep] Running Loop=1
2026-03-13T09:54:45.745Z,1773395685.745 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2026-03-13T09:54:45.746Z,1773395685.746 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2026-03-13T09:54:45.746Z,1773395685.746 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2026-03-13T09:54:45.746Z,1773395685.746 [keepstation:DiveCmd:TransitToStation] Stopped
2026-03-13T09:54:45.747Z,1773395685.747 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation
2026-03-13T09:54:45.747Z,1773395685.747 [keepstation:DiveCmd:TransitToStation:dive] Stopped
2026-03-13T09:54:45.747Z,1773395685.747 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation:dive
2026-03-13T09:54:45.747Z,1773395685.747 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Stopped
2026-03-13T09:54:45.747Z,1773395685.747 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-03-13T09:54:45.747Z,1773395685.747 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Stopped
2026-03-13T09:54:45.747Z,1773395685.747 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Stopped
2026-03-13T09:54:45.747Z,1773395685.747 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Uninitialize.
2026-03-13T09:54:46.117Z,1773395686.117 [keepstation:TransitToStation:D] Stopped
2026-03-13T09:54:46.117Z,1773395686.117 [keepstation:TransitToStation](INFO): Completed keepstation:TransitToStation
2026-03-13T09:54:46.117Z,1773395686.117 [keepstation:TransitToStation] Stopped
2026-03-13T09:54:46.117Z,1773395686.117 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2026-03-13T09:54:46.117Z,1773395686.117 [keepstation:TransitToStation:Dive] Stopped
2026-03-13T09:54:46.117Z,1773395686.117 [keepstation:TransitToStation:Dive](DEBUG): Aggregate::uninitialize keepstation:TransitToStation:Dive
2026-03-13T09:54:46.117Z,1773395686.117 [keepstation:TransitToStation:Dive:A] Stopped
2026-03-13T09:54:46.118Z,1773395686.118 [keepstation:TransitToStation:Dive:A](DEBUG): Aggregate::uninitialize keepstation:TransitToStation:Dive:A
2026-03-13T09:54:46.118Z,1773395686.118 [keepstation:OnStation] Running Loop=1
2026-03-13T09:54:46.118Z,1773395686.118 [keepstation:OnStation](DEBUG): Aggregate::initialize keepstation:OnStation
2026-03-13T09:54:46.523Z,1773395686.523 [keepstation:NeedComms] Running Loop=1
2026-03-13T09:54:46.523Z,1773395686.523 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2026-03-13T09:54:46.523Z,1773395686.523 [keepstation:NeedComms:C.GoToSurface] Running Loop=1
2026-03-13T09:54:46.523Z,1773395686.523 [keepstation:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-03-13T09:54:46.524Z,1773395686.524 [keepstation:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2026-03-13T09:54:46.524Z,1773395686.524 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2026-03-13T09:54:46.524Z,1773395686.524 [keepstation:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2026-03-13T09:54:46.525Z,1773395686.525 [keepstation:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2026-03-13T09:54:46.525Z,1773395686.525 [keepstation:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-03-13T09:54:46.525Z,1773395686.525 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-03-13T09:54:46.526Z,1773395686.526 [keepstation:NeedComms:A] Running Loop=1
2026-03-13T09:54:46.527Z,1773395686.527 [keepstation:NeedComms:A](INFO): last time_fix was:  1773394183.000000 second since 1970/01/01T00:00:00Z 
2026-03-13T09:54:46.528Z,1773395686.528 [keepstation:NeedComms:A] Stopped
2026-03-13T09:54:46.528Z,1773395686.528 [keepstation:NeedComms:setActive] Running Loop=1
2026-03-13T09:54:46.528Z,1773395686.528 [keepstation:NeedComms:setActive](DEBUG): Aggregate::initialize keepstation:NeedComms:setActive
2026-03-13T09:54:46.528Z,1773395686.528 [keepstation:NeedComms:setActive:A] Running Loop=1
2026-03-13T09:54:46.932Z,1773395686.932 [keepstation:NeedComms:setActive:A] Stopped
2026-03-13T09:54:46.932Z,1773395686.932 [keepstation:NeedComms:setActive:B] Running Loop=1
2026-03-13T09:54:47.346Z,1773395687.346 [keepstation:NeedComms:setActive:B] Stopped
2026-03-13T09:54:47.346Z,1773395687.346 [keepstation:NeedComms:setActive](INFO): Completed keepstation:NeedComms:setActive
2026-03-13T09:54:47.346Z,1773395687.346 [keepstation:NeedComms:setActive] Stopped
2026-03-13T09:54:47.347Z,1773395687.347 [keepstation:NeedComms:setActive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setActive
2026-03-13T09:54:48.908Z,1773395688.908 [ThrusterHE](ERROR): Internal error reported. Error codes are not defined in interface spec.
2026-03-13T09:55:46.755Z,1773395746.755 [keepstation:NeedComms:D] Running Loop=1
2026-03-13T09:55:47.299Z,1773395747.299 [Radio_Surface](INFO): Powering up
2026-03-13T09:55:52.660Z,1773395752.660 [DataOverHttps](INFO): Radio surface powered ON.
2026-03-13T09:56:09.365Z,1773395769.365 [NAL9602](INFO): SBD MO Status=2, MOMSN=32778, MT Status=2, MTMSN=0
2026-03-13T09:56:09.365Z,1773395769.365 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T09:56:22.792Z,1773395782.792 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T09:56:29.571Z,1773395789.571 [NAL9602](INFO): SBD MO Status=0, MOMSN=32778, MT Status=0, MTMSN=0
2026-03-13T09:56:29.571Z,1773395789.571 [NAL9602](INFO): No messages in MT queue
2026-03-13T09:56:30.780Z,1773395790.780 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,095630.00,A,3647.90742,N,12150.87251,W,0.622,313.90,130326,,,A*7E
2026-03-13T09:56:30.782Z,1773395790.782 [NAL9602](INFO): GPS fix at 20260313T095630: (36.798457, -121.847875)
2026-03-13T09:56:30.795Z,1773395790.795 [UniversalFixResidualReporter](INFO): Fix residual: 17.5 %DT, over the last 1221.8 m. Residual distance 213.4 m at bearing 161.7 degrees. Fix at (36.7985, -121.8479) with 1020.2 m made good.
2026-03-13T09:56:30.799Z,1773395790.799 [keepstation:NeedComms:D] Stopped
2026-03-13T09:56:30.799Z,1773395790.799 [keepstation:NeedComms:E] Running Loop=1
2026-03-13T09:56:41.394Z,1773395801.394 [NAL9602](INFO): SBD MO Status=1, MOMSN=32779, MT Status=0, MTMSN=0
2026-03-13T09:56:41.445Z,1773395801.445 [NAL9602](INFO): Sent 85 bytes from file Logs/20260313T044322/Courier0063.lzma
2026-03-13T09:56:41.446Z,1773395801.446 [NAL9602](INFO): Packets left to send: 0
2026-03-13T09:56:53.916Z,1773395813.916 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T09:57:25.044Z,1773395845.044 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T09:57:25.105Z,1773395845.105 [NAL9602](INFO): SBD MO Status=2, MOMSN=32780, MT Status=2, MTMSN=0
2026-03-13T09:57:25.105Z,1773395845.105 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T09:57:27.529Z,1773395847.529 [BPC1](ERROR): Battery stick #17 (s/n: 0084) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2026-03-13T09:57:27.529Z,1773395847.529 [BPC1](ERROR): Battery stick #24 (s/n: 01D3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T09:57:27.530Z,1773395847.530 [BPC1](ERROR): Battery stick #29 (s/n: 00A7) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2026-03-13T09:57:27.531Z,1773395847.531 [BPC1](ERROR): Battery stick #30 (s/n: 015F) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T09:57:27.531Z,1773395847.531 [BPC1](ERROR): Battery stick #37 (s/n: 0181) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T09:57:27.532Z,1773395847.532 [BPC1](ERROR): Battery stick #38 (s/n: 01BC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T09:57:27.533Z,1773395847.533 [BPC1](ERROR): Battery stick #39 (s/n: 0189) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T09:57:27.533Z,1773395847.533 [BPC1](ERROR): Battery stick #40 (s/n: 01A4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T09:57:27.534Z,1773395847.534 [BPC1](ERROR): Battery stick #44 (s/n: 01BB) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T09:57:27.535Z,1773395847.535 [BPC1](ERROR): Battery stick #50 (s/n: 019C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T09:57:27.544Z,1773395847.544 [BPC1](ERROR): Battery stick #51 (s/n: 01D6) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T09:57:27.545Z,1773395847.545 [BPC1](ERROR): Battery stick #52 (s/n: 0160) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T09:57:27.545Z,1773395847.545 [BPC1](ERROR): Battery stick #53 (s/n: 01EE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T09:57:27.546Z,1773395847.546 [BPC1](ERROR): Battery stick #56 (s/n: 0183) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T09:57:27.547Z,1773395847.547 [BPC1](ERROR): Battery stick #57 (s/n: 019F) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T09:57:27.552Z,1773395847.552 [BPC1](ERROR): Battery stick #59 (s/n: 0184) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x5AD0.
2026-03-13T09:57:27.552Z,1773395847.552 [BPC1](INFO): Calculating totals. Valid battery stick count: 28. Valid reserve battery stick count: 2.
2026-03-13T09:57:27.561Z,1773395847.561 [BPC1](FAULT): Failed to receive data from 16 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 17, 24, 29, 30, 37, 38, 39, 40, 44, 50, 51, 52, 53, 56, 57, 59.
2026-03-13T09:57:47.030Z,1773395867.030 [NAL9602](INFO): SBD MO Status=2, MOMSN=32780, MT Status=2, MTMSN=0
2026-03-13T09:57:47.031Z,1773395867.031 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T09:57:56.172Z,1773395876.172 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T09:57:59.629Z,1773395879.629 [NAL9602](INFO): SBD MO Status=1, MOMSN=32780, MT Status=0, MTMSN=0
2026-03-13T09:57:59.676Z,1773395879.676 [NAL9602](INFO): Sent 332 bytes from file Logs/20260313T044322/Express0064.lzma
2026-03-13T09:57:59.676Z,1773395879.676 [NAL9602](INFO): Packets left to send: 1
2026-03-13T09:58:08.186Z,1773395888.186 [NAL9602](INFO): SBD MO Status=1, MOMSN=32781, MT Status=0, MTMSN=0
2026-03-13T09:58:08.237Z,1773395888.237 [NAL9602](INFO): Sent 54 bytes from file Logs/20260313T044322/Express0064.lzma
2026-03-13T09:58:08.237Z,1773395888.237 [NAL9602](INFO): Packets left to send: 0
2026-03-13T09:58:27.296Z,1773395907.296 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T09:58:29.598Z,1773395909.598 [NAL9602](INFO): SBD MO Status=0, MOMSN=32782, MT Status=0, MTMSN=0
2026-03-13T09:58:29.681Z,1773395909.681 [keepstation:NeedComms:E] Stopped
2026-03-13T09:58:29.681Z,1773395909.681 [keepstation:NeedComms:F] Running Loop=1
2026-03-13T09:58:32.021Z,1773395912.021 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,095831.00,A,3647.92130,N,12150.87609,W,0.836,341.79,130326,,,A*72
2026-03-13T09:58:32.023Z,1773395912.023 [NAL9602](INFO): GPS fix at 20260313T095831: (36.798688, -121.847935)
2026-03-13T09:58:32.040Z,1773395912.040 [keepstation:DiveCmd:StationKeep:C.KeepStation](INFO): Rest->Waypoint
2026-03-13T09:58:32.044Z,1773395912.044 [keepstation:NeedComms:F] Stopped
2026-03-13T09:58:32.044Z,1773395912.044 [keepstation:NeedComms:setRestoreMode] Running Loop=1
2026-03-13T09:58:32.044Z,1773395912.044 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::initialize keepstation:NeedComms:setRestoreMode
2026-03-13T09:58:32.044Z,1773395912.044 [keepstation:NeedComms:setRestoreMode:A] Running Loop=1
2026-03-13T09:58:32.464Z,1773395912.464 [keepstation:NeedComms:setRestoreMode:A] Stopped
2026-03-13T09:58:32.464Z,1773395912.464 [keepstation:NeedComms:setRestoreMode](INFO): Completed keepstation:NeedComms:setRestoreMode
2026-03-13T09:58:32.464Z,1773395912.464 [keepstation:NeedComms:setRestoreMode] Stopped
2026-03-13T09:58:32.465Z,1773395912.465 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setRestoreMode
2026-03-13T09:58:32.465Z,1773395912.465 [keepstation:NeedComms:setInactive] Running Loop=1
2026-03-13T09:58:32.465Z,1773395912.465 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::initialize keepstation:NeedComms:setInactive
2026-03-13T09:58:32.465Z,1773395912.465 [keepstation:NeedComms:setInactive:A] Running Loop=1
2026-03-13T09:58:32.859Z,1773395912.859 [keepstation:NeedComms:setInactive:A] Stopped
2026-03-13T09:58:32.859Z,1773395912.859 [keepstation:NeedComms:setInactive](INFO): Completed keepstation:NeedComms:setInactive
2026-03-13T09:58:32.859Z,1773395912.859 [keepstation:NeedComms:setInactive] Stopped
2026-03-13T09:58:32.860Z,1773395912.860 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setInactive
2026-03-13T09:58:32.860Z,1773395912.860 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2026-03-13T09:58:32.860Z,1773395912.860 [keepstation:NeedComms] Stopped
2026-03-13T09:58:32.861Z,1773395912.861 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2026-03-13T09:58:32.861Z,1773395912.861 [keepstation:NeedComms:C.GoToSurface] Stopped
2026-03-13T09:58:32.861Z,1773395912.861 [keepstation:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-03-13T09:58:33.248Z,1773395913.248 [keepstation:OnStation](INFO): Completed keepstation:OnStation
2026-03-13T09:58:33.248Z,1773395913.248 [keepstation:OnStation] Stopped
2026-03-13T09:58:33.248Z,1773395913.248 [keepstation:OnStation](DEBUG): Aggregate::uninitialize keepstation:OnStation
2026-03-13T09:58:33.249Z,1773395913.249 [keepstation:KeepStation] Running Loop=1
2026-03-13T09:58:33.249Z,1773395913.249 [keepstation:KeepStation](DEBUG): Aggregate::initialize keepstation:KeepStation
2026-03-13T09:58:33.249Z,1773395913.249 [keepstation:KeepStation:Dive] Running Loop=1
2026-03-13T09:58:33.249Z,1773395913.249 [keepstation:KeepStation:Dive](DEBUG): Aggregate::initialize keepstation:KeepStation:Dive
2026-03-13T09:58:33.249Z,1773395913.249 [keepstation:KeepStation:Dive:A] Running Loop=1
2026-03-13T09:58:33.249Z,1773395913.249 [keepstation:KeepStation:Dive:A](DEBUG): Aggregate::initialize keepstation:KeepStation:Dive:A
2026-03-13T09:58:33.249Z,1773395913.249 [keepstation:KeepStation:B.Wait] Running Loop=1
2026-03-13T09:58:33.249Z,1773395913.249 [keepstation:KeepStation:B.Wait](DEBUG): Initialize Wait Component.
2026-03-13T09:58:33.655Z,1773395913.655 [keepstation:KeepStation:Dive] Running Loop=1
2026-03-13T09:58:58.420Z,1773395938.420 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T09:59:04.381Z,1773395944.381 [NAL9602](INFO): Not Powering down - fast GPS
2026-03-13T09:59:29.552Z,1773395969.552 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T10:00:00.684Z,1773396000.684 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T10:00:07.495Z,1773396007.495 [Radio_Surface](INFO): Powering down
2026-03-13T10:00:31.808Z,1773396031.808 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T10:00:32.812Z,1773396032.812 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2026-03-13T10:06:40.264Z,1773396400.264 [keepstation:DiveCmd:StationKeep:C.KeepStation](INFO): Waypoint->Rest
2026-03-13T10:06:40.663Z,1773396400.663 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.75 m/s, pitch 20.00 deg, mass-position -2.43 mm.
2026-03-13T10:36:31.274Z,1773398191.274 [GFScanner](IMPORTANT): Beginning ground fault scan
2026-03-13T10:36:35.686Z,1773398195.686 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.000418
CHAN A1 (24V): 0.001201
CHAN A2 (12V): -0.000100
CHAN A3 (5V): -0.001681
CHAN B0 (3.3V): -0.000125
CHAN B1 (3.15aV): 0.000081
CHAN B2 (3.15bV): -0.000064
CHAN B3 (GND): -0.000318
OPEN: 0.006400
Full Scale: +/- 1 mA
2026-03-13T10:38:29.570Z,1773398309.570 [BPC1](ERROR): Battery stick #17 (s/n: 0084) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2026-03-13T10:38:29.571Z,1773398309.571 [BPC1](ERROR): Battery stick #24 (s/n: 01D3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T10:38:29.572Z,1773398309.572 [BPC1](ERROR): Battery stick #29 (s/n: 00A7) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2026-03-13T10:38:29.573Z,1773398309.573 [BPC1](ERROR): Battery stick #30 (s/n: 015F) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T10:38:29.574Z,1773398309.574 [BPC1](ERROR): Battery stick #37 (s/n: 0181) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T10:38:29.574Z,1773398309.574 [BPC1](ERROR): Battery stick #38 (s/n: 01BC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T10:38:29.575Z,1773398309.575 [BPC1](ERROR): Battery stick #39 (s/n: 0189) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T10:38:29.576Z,1773398309.576 [BPC1](ERROR): Battery stick #40 (s/n: 01A4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T10:38:29.576Z,1773398309.576 [BPC1](ERROR): Battery stick #44 (s/n: 01BB) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T10:38:29.577Z,1773398309.577 [BPC1](ERROR): Battery stick #50 (s/n: 019C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C4.
2026-03-13T10:38:29.578Z,1773398309.578 [BPC1](ERROR): Battery stick #51 (s/n: 01D6) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T10:38:29.579Z,1773398309.579 [BPC1](ERROR): Battery stick #52 (s/n: 0160) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T10:38:29.579Z,1773398309.579 [BPC1](ERROR): Battery stick #53 (s/n: 01EE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T10:38:29.580Z,1773398309.580 [BPC1](ERROR): Battery stick #56 (s/n: 0183) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T10:38:29.581Z,1773398309.581 [BPC1](ERROR): Battery stick #57 (s/n: 019F) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T10:38:29.581Z,1773398309.581 [BPC1](ERROR): Battery stick #59 (s/n: 0184) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x5AD0.
2026-03-13T10:38:29.582Z,1773398309.582 [BPC1](INFO): Calculating totals. Valid battery stick count: 28. Valid reserve battery stick count: 2.
2026-03-13T10:38:29.588Z,1773398309.588 [BPC1](FAULT): Failed to receive data from 32 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 24, 29, 30, 37, 38, 39, 40, 44, 50, 51, 52, 53, 56, 57, 59.
2026-03-13T10:58:32.313Z,1773399512.313 [keepstation:SurfaceComms] Running Loop=1
2026-03-13T10:58:32.313Z,1773399512.313 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms
2026-03-13T10:58:32.313Z,1773399512.313 [keepstation:SurfaceComms:A] Running Loop=1
2026-03-13T10:58:32.314Z,1773399512.314 [keepstation:SurfaceComms:A] Stopped
2026-03-13T10:58:32.314Z,1773399512.314 [keepstation:SurfaceComms:B] Running Loop=1
2026-03-13T10:58:32.314Z,1773399512.314 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B
2026-03-13T10:58:32.316Z,1773399512.316 [keepstation:NeedComms] Running Loop=1
2026-03-13T10:58:32.316Z,1773399512.316 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2026-03-13T10:58:32.316Z,1773399512.316 [keepstation:NeedComms:C.GoToSurface] Running Loop=1
2026-03-13T10:58:32.316Z,1773399512.316 [keepstation:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-03-13T10:58:32.316Z,1773399512.316 [keepstation:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2026-03-13T10:58:32.317Z,1773399512.317 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2026-03-13T10:58:32.317Z,1773399512.317 [keepstation:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2026-03-13T10:58:32.317Z,1773399512.317 [keepstation:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2026-03-13T10:58:32.318Z,1773399512.318 [keepstation:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-03-13T10:58:32.318Z,1773399512.318 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-03-13T10:58:32.318Z,1773399512.318 [keepstation:NeedComms:A] Running Loop=1
2026-03-13T10:58:32.320Z,1773399512.320 [keepstation:NeedComms:A](INFO): last time_fix was:  1773395911.000000 second since 1970/01/01T00:00:00Z 
2026-03-13T10:58:32.321Z,1773399512.321 [keepstation:NeedComms:A] Stopped
2026-03-13T10:58:32.321Z,1773399512.321 [keepstation:NeedComms:setActive] Running Loop=1
2026-03-13T10:58:32.321Z,1773399512.321 [keepstation:NeedComms:setActive](DEBUG): Aggregate::initialize keepstation:NeedComms:setActive
2026-03-13T10:58:32.321Z,1773399512.321 [keepstation:NeedComms:setActive:A] Running Loop=1
2026-03-13T10:58:32.719Z,1773399512.719 [keepstation:KeepStation:Dive] Stopped
2026-03-13T10:58:32.720Z,1773399512.720 [keepstation:KeepStation:Dive](DEBUG): Aggregate::uninitialize keepstation:KeepStation:Dive
2026-03-13T10:58:32.720Z,1773399512.720 [keepstation:KeepStation:Dive:A] Stopped
2026-03-13T10:58:32.720Z,1773399512.720 [keepstation:KeepStation:Dive:A](DEBUG): Aggregate::uninitialize keepstation:KeepStation:Dive:A
2026-03-13T10:58:32.720Z,1773399512.720 [keepstation:DiveCmd:StationKeep] Stopped
2026-03-13T10:58:32.720Z,1773399512.720 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:StationKeep
2026-03-13T10:58:32.720Z,1773399512.720 [keepstation:DiveCmd:StationKeep:A] Stopped
2026-03-13T10:58:32.720Z,1773399512.720 [keepstation:DiveCmd:StationKeep:B.Pitch] Stopped
2026-03-13T10:58:32.720Z,1773399512.720 [keepstation:DiveCmd:StationKeep:C.KeepStation] Stopped
2026-03-13T10:58:32.720Z,1773399512.720 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2026-03-13T10:58:32.723Z,1773399512.723 [keepstation:NeedComms:setActive:A] Stopped
2026-03-13T10:58:32.724Z,1773399512.724 [keepstation:NeedComms:setActive:B] Running Loop=1
2026-03-13T10:58:33.103Z,1773399513.103 [keepstation:NeedComms:setActive:B] Stopped
2026-03-13T10:58:33.103Z,1773399513.103 [keepstation:NeedComms:setActive](INFO): Completed keepstation:NeedComms:setActive
2026-03-13T10:58:33.104Z,1773399513.104 [keepstation:NeedComms:setActive] Stopped
2026-03-13T10:58:33.104Z,1773399513.104 [keepstation:NeedComms:setActive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setActive
2026-03-13T11:00:17.370Z,1773399617.370 [keepstation:NeedComms:D] Running Loop=1
2026-03-13T11:00:18.148Z,1773399618.148 [Radio_Surface](INFO): Powering up
2026-03-13T11:00:23.721Z,1773399623.721 [DataOverHttps](INFO): Radio surface powered ON.
2026-03-13T11:00:28.278Z,1773399628.278 [NAL9602](INFO): SBD MO Status=0, MOMSN=32783, MT Status=0, MTMSN=0
2026-03-13T11:00:28.278Z,1773399628.278 [NAL9602](INFO): No messages in MT queue
2026-03-13T11:00:29.542Z,1773399629.542 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,110028.00,A,3647.79888,N,12150.93170,W,4.335,335.93,130326,,,A*76
2026-03-13T11:00:29.545Z,1773399629.545 [NAL9602](INFO): GPS fix at 20260313T110028: (36.796648, -121.848862)
2026-03-13T11:00:29.559Z,1773399629.559 [keepstation:NeedComms:D] Stopped
2026-03-13T11:00:29.559Z,1773399629.559 [keepstation:NeedComms:E] Running Loop=1
2026-03-13T11:00:38.870Z,1773399638.870 [NAL9602](INFO): SBD MO Status=1, MOMSN=32784, MT Status=0, MTMSN=0
2026-03-13T11:00:38.921Z,1773399638.921 [NAL9602](INFO): Sent 85 bytes from file Logs/20260313T044322/Courier0066.lzma
2026-03-13T11:00:38.921Z,1773399638.921 [NAL9602](INFO): Packets left to send: 0
2026-03-13T11:00:49.851Z,1773399649.851 [NAL9602](INFO): SBD MO Status=2, MOMSN=32785, MT Status=2, MTMSN=0
2026-03-13T11:00:49.851Z,1773399649.851 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T11:00:53.844Z,1773399653.844 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T11:01:24.968Z,1773399684.968 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T11:01:27.907Z,1773399687.907 [NAL9602](INFO): SBD MO Status=1, MOMSN=32785, MT Status=0, MTMSN=0
2026-03-13T11:01:27.964Z,1773399687.964 [NAL9602](INFO): Sent 332 bytes from file Logs/20260313T044322/Express0067.lzma
2026-03-13T11:01:27.964Z,1773399687.964 [NAL9602](INFO): Packets left to send: 2
2026-03-13T11:01:40.542Z,1773399700.542 [NAL9602](INFO): SBD MO Status=1, MOMSN=32786, MT Status=0, MTMSN=0
2026-03-13T11:01:40.596Z,1773399700.596 [NAL9602](INFO): Sent 332 bytes from file Logs/20260313T044322/Express0067.lzma
2026-03-13T11:01:40.596Z,1773399700.596 [NAL9602](INFO): Packets left to send: 1
2026-03-13T11:01:50.289Z,1773399710.289 [NAL9602](INFO): SBD MO Status=1, MOMSN=32787, MT Status=0, MTMSN=0
2026-03-13T11:01:50.340Z,1773399710.340 [NAL9602](INFO): Sent 151 bytes from file Logs/20260313T044322/Express0067.lzma
2026-03-13T11:01:50.340Z,1773399710.340 [NAL9602](INFO): Packets left to send: 0
2026-03-13T11:01:56.092Z,1773399716.092 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T11:02:09.296Z,1773399729.296 [NAL9602](INFO): SBD MO Status=0, MOMSN=32788, MT Status=0, MTMSN=0
2026-03-13T11:02:09.378Z,1773399729.378 [keepstation:NeedComms:E] Stopped
2026-03-13T11:02:09.379Z,1773399729.379 [keepstation:NeedComms:F] Running Loop=1
2026-03-13T11:02:11.766Z,1773399731.766 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,110211.00,A,3647.80227,N,12150.93619,W,0.952,328.87,130326,,,A*79
2026-03-13T11:02:11.769Z,1773399731.769 [NAL9602](INFO): GPS fix at 20260313T110211: (36.796704, -121.848936)
2026-03-13T11:02:11.798Z,1773399731.798 [keepstation:NeedComms:F] Stopped
2026-03-13T11:02:11.798Z,1773399731.798 [keepstation:NeedComms:setRestoreMode] Running Loop=1
2026-03-13T11:02:11.798Z,1773399731.798 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::initialize keepstation:NeedComms:setRestoreMode
2026-03-13T11:02:11.798Z,1773399731.798 [keepstation:NeedComms:setRestoreMode:A] Running Loop=1
2026-03-13T11:02:12.165Z,1773399732.165 [keepstation:NeedComms:setRestoreMode:A] Stopped
2026-03-13T11:02:12.165Z,1773399732.165 [keepstation:NeedComms:setRestoreMode](INFO): Completed keepstation:NeedComms:setRestoreMode
2026-03-13T11:02:12.165Z,1773399732.165 [keepstation:NeedComms:setRestoreMode] Stopped
2026-03-13T11:02:12.165Z,1773399732.165 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setRestoreMode
2026-03-13T11:02:12.165Z,1773399732.165 [keepstation:NeedComms:setInactive] Running Loop=1
2026-03-13T11:02:12.165Z,1773399732.165 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::initialize keepstation:NeedComms:setInactive
2026-03-13T11:02:12.165Z,1773399732.165 [keepstation:NeedComms:setInactive:A] Running Loop=1
2026-03-13T11:02:12.542Z,1773399732.542 [keepstation:NeedComms:setInactive:A] Stopped
2026-03-13T11:02:12.542Z,1773399732.542 [keepstation:NeedComms:setInactive](INFO): Completed keepstation:NeedComms:setInactive
2026-03-13T11:02:12.543Z,1773399732.543 [keepstation:NeedComms:setInactive] Stopped
2026-03-13T11:02:12.543Z,1773399732.543 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setInactive
2026-03-13T11:02:12.544Z,1773399732.544 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2026-03-13T11:02:12.544Z,1773399732.544 [keepstation:NeedComms] Stopped
2026-03-13T11:02:12.544Z,1773399732.544 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2026-03-13T11:02:12.544Z,1773399732.544 [keepstation:NeedComms:C.GoToSurface] Stopped
2026-03-13T11:02:12.544Z,1773399732.544 [keepstation:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-03-13T11:02:12.945Z,1773399732.945 [keepstation:SurfaceComms:B](INFO): Completed keepstation:SurfaceComms:B
2026-03-13T11:02:12.945Z,1773399732.945 [keepstation:SurfaceComms:B] Stopped
2026-03-13T11:02:12.945Z,1773399732.945 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B
2026-03-13T11:02:12.945Z,1773399732.945 [keepstation:SurfaceComms:HandleNan] Running Loop=1
2026-03-13T11:02:12.945Z,1773399732.945 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan
2026-03-13T11:02:12.945Z,1773399732.945 [keepstation:SurfaceComms:HandleNan:SetOnStation] Running Loop=1
2026-03-13T11:02:12.946Z,1773399732.946 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan:SetOnStation
2026-03-13T11:02:12.946Z,1773399732.946 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Running Loop=1
2026-03-13T11:02:13.328Z,1773399733.328 [keepstation:SurfaceComms:HandleNan] Stopped
2026-03-13T11:02:13.328Z,1773399733.328 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan
2026-03-13T11:02:13.329Z,1773399733.329 [keepstation:SurfaceComms:HandleNan:SetOnStation] Stopped
2026-03-13T11:02:13.329Z,1773399733.329 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan:SetOnStation
2026-03-13T11:02:13.329Z,1773399733.329 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Stopped
2026-03-13T11:02:13.329Z,1773399733.329 [keepstation:SurfaceComms:setTransit] Running Loop=1
2026-03-13T11:02:13.329Z,1773399733.329 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setTransit
2026-03-13T11:02:13.329Z,1773399733.329 [keepstation:SurfaceComms:setTransit:A] Running Loop=1
2026-03-13T11:02:13.741Z,1773399733.741 [keepstation:SurfaceComms:setTransit] Stopped
2026-03-13T11:02:13.741Z,1773399733.741 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setTransit
2026-03-13T11:02:13.741Z,1773399733.741 [keepstation:SurfaceComms:setTransit:A] Stopped
2026-03-13T11:02:13.741Z,1773399733.741 [keepstation:SurfaceComms:setStation] Running Loop=1
2026-03-13T11:02:13.741Z,1773399733.741 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setStation
2026-03-13T11:02:13.741Z,1773399733.741 [keepstation:SurfaceComms:setStation:A] Running Loop=1
2026-03-13T11:02:14.145Z,1773399734.145 [keepstation:SurfaceComms:setStation:A] Stopped
2026-03-13T11:02:14.145Z,1773399734.145 [keepstation:SurfaceComms:setStation](INFO): Completed keepstation:SurfaceComms:setStation
2026-03-13T11:02:14.145Z,1773399734.145 [keepstation:SurfaceComms:setStation] Stopped
2026-03-13T11:02:14.145Z,1773399734.145 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setStation
2026-03-13T11:02:14.146Z,1773399734.146 [keepstation:SurfaceComms:setSink] Running Loop=1
2026-03-13T11:02:14.146Z,1773399734.146 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setSink
2026-03-13T11:02:14.146Z,1773399734.146 [keepstation:SurfaceComms:setSink:A] Running Loop=1
2026-03-13T11:02:14.545Z,1773399734.545 [keepstation:KeepStation:Dive] Running Loop=1
2026-03-13T11:02:14.546Z,1773399734.546 [keepstation:KeepStation:Dive](DEBUG): Aggregate::initialize keepstation:KeepStation:Dive
2026-03-13T11:02:14.546Z,1773399734.546 [keepstation:KeepStation:Dive:A] Running Loop=1
2026-03-13T11:02:14.546Z,1773399734.546 [keepstation:KeepStation:Dive:A](DEBUG): Aggregate::initialize keepstation:KeepStation:Dive:A
2026-03-13T11:02:14.546Z,1773399734.546 [keepstation:DiveCmd:StationKeep] Running Loop=1
2026-03-13T11:02:14.546Z,1773399734.546 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::initialize keepstation:DiveCmd:StationKeep
2026-03-13T11:02:14.546Z,1773399734.546 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2026-03-13T11:02:14.547Z,1773399734.547 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2026-03-13T11:02:14.547Z,1773399734.547 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Initialize.
2026-03-13T11:02:14.547Z,1773399734.547 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2026-03-13T11:02:14.547Z,1773399734.547 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2026-03-13T11:02:14.549Z,1773399734.549 [keepstation:SurfaceComms:setSink] Stopped
2026-03-13T11:02:14.549Z,1773399734.549 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setSink
2026-03-13T11:02:14.549Z,1773399734.549 [keepstation:SurfaceComms:setSink:A] Stopped
2026-03-13T11:02:14.549Z,1773399734.549 [keepstation:SurfaceComms](INFO): Completed keepstation:SurfaceComms
2026-03-13T11:02:14.549Z,1773399734.549 [keepstation:SurfaceComms] Stopped
2026-03-13T11:02:14.549Z,1773399734.549 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms
2026-03-13T11:02:24.276Z,1773399744.276 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2026-03-13T11:02:27.216Z,1773399747.216 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T11:02:44.432Z,1773399764.432 [NAL9602](INFO): Not Powering down - fast GPS
2026-03-13T11:02:54.930Z,1773399774.930 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2026-03-13T11:02:58.360Z,1773399778.360 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T11:03:29.484Z,1773399809.484 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T11:03:58.124Z,1773399838.124 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003246
2026-03-13T11:05:32.460Z,1773399932.460 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T11:06:03.600Z,1773399963.600 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T11:06:27.815Z,1773399987.815 [Radio_Surface](INFO): Powering down
2026-03-13T11:06:34.724Z,1773399994.724 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T11:06:35.728Z,1773399995.728 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2026-03-13T11:06:46.842Z,1773400006.842 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2026-03-13T11:07:39.000Z,1773400060.000 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.759277
2026-03-13T11:16:47.182Z,1773400607.182 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2026-03-13T11:19:31.607Z,1773400771.607 [BPC1](ERROR): Battery stick #17 (s/n: 0084) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2026-03-13T11:19:31.608Z,1773400771.608 [BPC1](ERROR): Battery stick #24 (s/n: 01D3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T11:19:31.609Z,1773400771.609 [BPC1](ERROR): Battery stick #29 (s/n: 00A7) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2026-03-13T11:19:31.609Z,1773400771.609 [BPC1](ERROR): Battery stick #30 (s/n: 015F) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T11:19:31.610Z,1773400771.610 [BPC1](ERROR): Battery stick #37 (s/n: 0181) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T11:19:31.611Z,1773400771.611 [BPC1](ERROR): Battery stick #38 (s/n: 01BC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T11:19:31.612Z,1773400771.612 [BPC1](ERROR): Battery stick #39 (s/n: 0189) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T11:19:31.612Z,1773400771.612 [BPC1](ERROR): Battery stick #40 (s/n: 01A4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T11:19:31.613Z,1773400771.613 [BPC1](ERROR): Battery stick #44 (s/n: 01BB) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T11:19:31.614Z,1773400771.614 [BPC1](ERROR): Battery stick #50 (s/n: 019C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T11:19:31.615Z,1773400771.615 [BPC1](ERROR): Battery stick #51 (s/n: 01D6) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T11:19:31.615Z,1773400771.615 [BPC1](ERROR): Battery stick #52 (s/n: 0160) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T11:19:31.616Z,1773400771.616 [BPC1](ERROR): Battery stick #53 (s/n: 01EE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T11:19:31.617Z,1773400771.617 [BPC1](ERROR): Battery stick #56 (s/n: 0183) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T11:19:31.617Z,1773400771.617 [BPC1](ERROR): Battery stick #57 (s/n: 019F) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T11:19:31.618Z,1773400771.618 [BPC1](ERROR): Battery stick #59 (s/n: 0184) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x5AD0.
2026-03-13T11:19:31.619Z,1773400771.619 [BPC1](INFO): Calculating totals. Valid battery stick count: 29. Valid reserve battery stick count: 2.
2026-03-13T11:19:31.625Z,1773400771.625 [BPC1](FAULT): Failed to receive data from 31 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 24, 29, 30, 37, 38, 39, 40, 44, 50, 51, 52, 53, 56, 57, 59.
2026-03-13T11:26:47.530Z,1773401207.530 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2026-03-13T11:36:47.876Z,1773401807.876 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2026-03-13T11:39:50.878Z,1773401990.878 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2026-03-13T11:46:48.230Z,1773402408.230 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2026-03-13T11:56:48.566Z,1773403008.566 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2026-03-13T12:00:33.591Z,1773403233.591 [BPC1](ERROR): Battery stick #17 (s/n: 0084) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2026-03-13T12:00:33.592Z,1773403233.592 [BPC1](ERROR): Battery stick #24 (s/n: 01D3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T12:00:33.592Z,1773403233.592 [BPC1](ERROR): Battery stick #29 (s/n: 00A7) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2026-03-13T12:00:33.593Z,1773403233.593 [BPC1](ERROR): Battery stick #30 (s/n: 015F) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T12:00:33.594Z,1773403233.594 [BPC1](ERROR): Battery stick #37 (s/n: 0181) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T12:00:33.594Z,1773403233.594 [BPC1](ERROR): Battery stick #38 (s/n: 01BC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T12:00:33.595Z,1773403233.595 [BPC1](ERROR): Battery stick #39 (s/n: 0189) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T12:00:33.596Z,1773403233.596 [BPC1](ERROR): Battery stick #40 (s/n: 01A4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T12:00:33.597Z,1773403233.597 [BPC1](ERROR): Battery stick #44 (s/n: 01BB) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T12:00:33.597Z,1773403233.597 [BPC1](ERROR): Battery stick #50 (s/n: 019C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T12:00:33.598Z,1773403233.598 [BPC1](ERROR): Battery stick #51 (s/n: 01D6) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T12:00:33.599Z,1773403233.599 [BPC1](ERROR): Battery stick #52 (s/n: 0160) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T12:00:33.599Z,1773403233.599 [BPC1](ERROR): Battery stick #53 (s/n: 01EE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T12:00:33.600Z,1773403233.600 [BPC1](ERROR): Battery stick #56 (s/n: 0183) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T12:00:33.601Z,1773403233.601 [BPC1](ERROR): Battery stick #57 (s/n: 019F) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T12:00:33.601Z,1773403233.601 [BPC1](ERROR): Battery stick #59 (s/n: 0184) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x5AD0.
2026-03-13T12:00:33.602Z,1773403233.602 [BPC1](INFO): Calculating totals. Valid battery stick count: 28. Valid reserve battery stick count: 2.
2026-03-13T12:00:33.608Z,1773403233.608 [BPC1](FAULT): Failed to receive data from 31 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 24, 29, 30, 37, 38, 39, 40, 44, 50, 51, 52, 53, 56, 57, 59.
2026-03-13T12:02:11.791Z,1773403331.791 [keepstation:SurfaceComms] Running Loop=1
2026-03-13T12:02:11.791Z,1773403331.791 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms
2026-03-13T12:02:11.792Z,1773403331.792 [keepstation:SurfaceComms:A] Running Loop=1
2026-03-13T12:02:11.792Z,1773403331.792 [keepstation:SurfaceComms:A] Stopped
2026-03-13T12:02:11.792Z,1773403331.792 [keepstation:SurfaceComms:B] Running Loop=1
2026-03-13T12:02:11.792Z,1773403331.792 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B
2026-03-13T12:02:11.794Z,1773403331.794 [keepstation:NeedComms] Running Loop=1
2026-03-13T12:02:11.794Z,1773403331.794 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2026-03-13T12:02:11.794Z,1773403331.794 [keepstation:NeedComms:C.GoToSurface] Running Loop=1
2026-03-13T12:02:11.794Z,1773403331.794 [keepstation:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-03-13T12:02:11.794Z,1773403331.794 [keepstation:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2026-03-13T12:02:11.795Z,1773403331.795 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2026-03-13T12:02:11.795Z,1773403331.795 [keepstation:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2026-03-13T12:02:11.796Z,1773403331.796 [keepstation:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2026-03-13T12:02:11.796Z,1773403331.796 [keepstation:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-03-13T12:02:11.796Z,1773403331.796 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-03-13T12:02:11.797Z,1773403331.797 [keepstation:NeedComms:A] Running Loop=1
2026-03-13T12:02:11.798Z,1773403331.798 [keepstation:NeedComms:A](INFO): last time_fix was:  1773399731.000000 second since 1970/01/01T00:00:00Z 
2026-03-13T12:02:11.798Z,1773403331.798 [keepstation:NeedComms:A] Stopped
2026-03-13T12:02:11.798Z,1773403331.798 [keepstation:NeedComms:setActive] Running Loop=1
2026-03-13T12:02:11.798Z,1773403331.798 [keepstation:NeedComms:setActive](DEBUG): Aggregate::initialize keepstation:NeedComms:setActive
2026-03-13T12:02:11.798Z,1773403331.798 [keepstation:NeedComms:setActive:A] Running Loop=1
2026-03-13T12:02:12.199Z,1773403332.199 [keepstation:KeepStation:Dive] Stopped
2026-03-13T12:02:12.199Z,1773403332.199 [keepstation:KeepStation:Dive](DEBUG): Aggregate::uninitialize keepstation:KeepStation:Dive
2026-03-13T12:02:12.199Z,1773403332.199 [keepstation:KeepStation:Dive:A] Stopped
2026-03-13T12:02:12.199Z,1773403332.199 [keepstation:KeepStation:Dive:A](DEBUG): Aggregate::uninitialize keepstation:KeepStation:Dive:A
2026-03-13T12:02:12.200Z,1773403332.200 [keepstation:DiveCmd:StationKeep] Stopped
2026-03-13T12:02:12.200Z,1773403332.200 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:StationKeep
2026-03-13T12:02:12.200Z,1773403332.200 [keepstation:DiveCmd:StationKeep:A] Stopped
2026-03-13T12:02:12.200Z,1773403332.200 [keepstation:DiveCmd:StationKeep:B.Pitch] Stopped
2026-03-13T12:02:12.200Z,1773403332.200 [keepstation:DiveCmd:StationKeep:C.KeepStation] Stopped
2026-03-13T12:02:12.200Z,1773403332.200 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2026-03-13T12:02:12.203Z,1773403332.203 [keepstation:NeedComms:setActive:A] Stopped
2026-03-13T12:02:12.203Z,1773403332.203 [keepstation:NeedComms:setActive:B] Running Loop=1
2026-03-13T12:02:12.616Z,1773403332.616 [keepstation:NeedComms:setActive:B] Stopped
2026-03-13T12:02:12.616Z,1773403332.616 [keepstation:NeedComms:setActive](INFO): Completed keepstation:NeedComms:setActive
2026-03-13T12:02:12.616Z,1773403332.616 [keepstation:NeedComms:setActive] Stopped
2026-03-13T12:02:12.616Z,1773403332.616 [keepstation:NeedComms:setActive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setActive
2026-03-13T12:04:01.317Z,1773403441.317 [keepstation:NeedComms:D] Running Loop=1
2026-03-13T12:04:02.020Z,1773403442.020 [Radio_Surface](INFO): Powering up
2026-03-13T12:04:08.028Z,1773403448.028 [DataOverHttps](INFO): Radio surface powered ON.
2026-03-13T12:04:17.470Z,1773403457.470 [NAL9602](INFO): SBD MO Status=2, MOMSN=32789, MT Status=2, MTMSN=0
2026-03-13T12:04:17.470Z,1773403457.470 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T12:04:38.148Z,1773403478.148 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T12:04:53.017Z,1773403493.017 [NAL9602](INFO): SBD MO Status=0, MOMSN=32789, MT Status=0, MTMSN=0
2026-03-13T12:04:53.017Z,1773403493.017 [NAL9602](INFO): No messages in MT queue
2026-03-13T12:04:54.230Z,1773403494.230 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,120453.00,A,3647.93637,N,12151.15370,W,0.933,313.57,130326,,,A*7A
2026-03-13T12:04:54.241Z,1773403494.241 [NAL9602](INFO): GPS fix at 20260313T120453: (36.798940, -121.852562)
2026-03-13T12:04:54.255Z,1773403494.255 [keepstation:NeedComms:D] Stopped
2026-03-13T12:04:54.256Z,1773403494.256 [keepstation:NeedComms:E] Running Loop=1
2026-03-13T12:05:09.292Z,1773403509.292 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T12:05:21.791Z,1773403521.791 [NAL9602](INFO): SBD MO Status=2, MOMSN=32790, MT Status=2, MTMSN=0
2026-03-13T12:05:21.791Z,1773403521.791 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T12:05:29.000Z,1773403529.000 [DAT](INFO): DAT read: user:6>Rx Time:12:05:28.3021

2026-03-13T12:05:29.001Z,1773403529.001 [DAT](INFO): Rx dataTimestamp_ set to:1773403529.000590
2026-03-13T12:05:29.001Z,1773403529.001 [DAT](INFO): DAT read: 

2026-03-13T12:05:29.002Z,1773403529.002 [DAT](INFO): DAT read: $Packet for address 0

2026-03-13T12:05:29.002Z,1773403529.002 [DAT](INFO): received a packet notification
2026-03-13T12:05:40.416Z,1773403540.416 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T12:05:48.129Z,1773403548.129 [NAL9602](INFO): SBD MO Status=1, MOMSN=32790, MT Status=0, MTMSN=0
2026-03-13T12:05:48.180Z,1773403548.180 [NAL9602](INFO): Sent 85 bytes from file Logs/20260313T044322/Courier0069.lzma
2026-03-13T12:05:48.180Z,1773403548.180 [NAL9602](INFO): Packets left to send: 0
2026-03-13T12:06:07.199Z,1773403567.199 [NAL9602](INFO): SBD MO Status=2, MOMSN=32791, MT Status=2, MTMSN=0
2026-03-13T12:06:07.200Z,1773403567.200 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T12:06:11.540Z,1773403571.540 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T12:06:29.085Z,1773403589.085 [NAL9602](INFO): SBD MO Status=1, MOMSN=32791, MT Status=0, MTMSN=0
2026-03-13T12:06:29.136Z,1773403589.136 [NAL9602](INFO): Sent 332 bytes from file Logs/20260313T044322/Express0070.lzma
2026-03-13T12:06:29.136Z,1773403589.136 [NAL9602](INFO): Packets left to send: 1
2026-03-13T12:06:38.855Z,1773403598.855 [NAL9602](INFO): SBD MO Status=1, MOMSN=32792, MT Status=0, MTMSN=0
2026-03-13T12:06:38.904Z,1773403598.904 [NAL9602](INFO): Sent 138 bytes from file Logs/20260313T044322/Express0070.lzma
2026-03-13T12:06:38.904Z,1773403598.904 [NAL9602](INFO): Packets left to send: 0
2026-03-13T12:06:42.664Z,1773403602.664 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T12:06:48.955Z,1773403608.955 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2026-03-13T12:06:57.870Z,1773403617.870 [NAL9602](INFO): SBD MO Status=2, MOMSN=32793, MT Status=2, MTMSN=0
2026-03-13T12:06:57.870Z,1773403617.870 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T12:07:13.193Z,1773403633.193 [NAL9602](INFO): SBD MO Status=0, MOMSN=32793, MT Status=0, MTMSN=0
2026-03-13T12:07:13.275Z,1773403633.275 [keepstation:NeedComms:E] Stopped
2026-03-13T12:07:13.276Z,1773403633.276 [keepstation:NeedComms:F] Running Loop=1
2026-03-13T12:07:13.788Z,1773403633.788 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T12:07:15.620Z,1773403635.620 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,120714.00,A,3647.94815,N,12151.16032,W,1.419,327.66,130326,,,D*71
2026-03-13T12:07:15.622Z,1773403635.622 [NAL9602](INFO): GPS fix at 20260313T120714: (36.799136, -121.852672)
2026-03-13T12:07:15.635Z,1773403635.635 [keepstation:NeedComms:F] Stopped
2026-03-13T12:07:15.635Z,1773403635.635 [keepstation:NeedComms:setRestoreMode] Running Loop=1
2026-03-13T12:07:15.636Z,1773403635.636 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::initialize keepstation:NeedComms:setRestoreMode
2026-03-13T12:07:15.636Z,1773403635.636 [keepstation:NeedComms:setRestoreMode:A] Running Loop=1
2026-03-13T12:07:16.062Z,1773403636.062 [keepstation:NeedComms:setRestoreMode:A] Stopped
2026-03-13T12:07:16.062Z,1773403636.062 [keepstation:NeedComms:setRestoreMode](INFO): Completed keepstation:NeedComms:setRestoreMode
2026-03-13T12:07:16.062Z,1773403636.062 [keepstation:NeedComms:setRestoreMode] Stopped
2026-03-13T12:07:16.062Z,1773403636.062 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setRestoreMode
2026-03-13T12:07:16.062Z,1773403636.062 [keepstation:NeedComms:setInactive] Running Loop=1
2026-03-13T12:07:16.062Z,1773403636.062 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::initialize keepstation:NeedComms:setInactive
2026-03-13T12:07:16.062Z,1773403636.062 [keepstation:NeedComms:setInactive:A] Running Loop=1
2026-03-13T12:07:16.439Z,1773403636.439 [keepstation:NeedComms:setInactive:A] Stopped
2026-03-13T12:07:16.439Z,1773403636.439 [keepstation:NeedComms:setInactive](INFO): Completed keepstation:NeedComms:setInactive
2026-03-13T12:07:16.439Z,1773403636.439 [keepstation:NeedComms:setInactive] Stopped
2026-03-13T12:07:16.439Z,1773403636.439 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setInactive
2026-03-13T12:07:16.460Z,1773403636.460 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2026-03-13T12:07:16.460Z,1773403636.460 [keepstation:NeedComms] Stopped
2026-03-13T12:07:16.460Z,1773403636.460 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2026-03-13T12:07:16.460Z,1773403636.460 [keepstation:NeedComms:C.GoToSurface] Stopped
2026-03-13T12:07:16.460Z,1773403636.460 [keepstation:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-03-13T12:07:16.844Z,1773403636.844 [keepstation:SurfaceComms:B](INFO): Completed keepstation:SurfaceComms:B
2026-03-13T12:07:16.844Z,1773403636.844 [keepstation:SurfaceComms:B] Stopped
2026-03-13T12:07:16.845Z,1773403636.845 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B
2026-03-13T12:07:16.845Z,1773403636.845 [keepstation:SurfaceComms:HandleNan] Running Loop=1
2026-03-13T12:07:16.845Z,1773403636.845 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan
2026-03-13T12:07:16.845Z,1773403636.845 [keepstation:SurfaceComms:HandleNan:SetOnStation] Running Loop=1
2026-03-13T12:07:16.845Z,1773403636.845 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan:SetOnStation
2026-03-13T12:07:16.845Z,1773403636.845 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Running Loop=1
2026-03-13T12:07:17.246Z,1773403637.246 [keepstation:SurfaceComms:HandleNan] Stopped
2026-03-13T12:07:17.246Z,1773403637.246 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan
2026-03-13T12:07:17.246Z,1773403637.246 [keepstation:SurfaceComms:HandleNan:SetOnStation] Stopped
2026-03-13T12:07:17.246Z,1773403637.246 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan:SetOnStation
2026-03-13T12:07:17.246Z,1773403637.246 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Stopped
2026-03-13T12:07:17.246Z,1773403637.246 [keepstation:SurfaceComms:setTransit] Running Loop=1
2026-03-13T12:07:17.246Z,1773403637.246 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setTransit
2026-03-13T12:07:17.246Z,1773403637.246 [keepstation:SurfaceComms:setTransit:A] Running Loop=1
2026-03-13T12:07:17.664Z,1773403637.664 [keepstation:SurfaceComms:setTransit] Stopped
2026-03-13T12:07:17.665Z,1773403637.665 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setTransit
2026-03-13T12:07:17.665Z,1773403637.665 [keepstation:SurfaceComms:setTransit:A] Stopped
2026-03-13T12:07:17.665Z,1773403637.665 [keepstation:SurfaceComms:setStation] Running Loop=1
2026-03-13T12:07:17.665Z,1773403637.665 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setStation
2026-03-13T12:07:17.665Z,1773403637.665 [keepstation:SurfaceComms:setStation:A] Running Loop=1
2026-03-13T12:07:18.056Z,1773403638.056 [keepstation:SurfaceComms:setStation:A] Stopped
2026-03-13T12:07:18.057Z,1773403638.057 [keepstation:SurfaceComms:setStation](INFO): Completed keepstation:SurfaceComms:setStation
2026-03-13T12:07:18.057Z,1773403638.057 [keepstation:SurfaceComms:setStation] Stopped
2026-03-13T12:07:18.057Z,1773403638.057 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setStation
2026-03-13T12:07:18.057Z,1773403638.057 [keepstation:SurfaceComms:setSink] Running Loop=1
2026-03-13T12:07:18.057Z,1773403638.057 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setSink
2026-03-13T12:07:18.057Z,1773403638.057 [keepstation:SurfaceComms:setSink:A] Running Loop=1
2026-03-13T12:07:18.457Z,1773403638.457 [keepstation:KeepStation:Dive] Running Loop=1
2026-03-13T12:07:18.457Z,1773403638.457 [keepstation:KeepStation:Dive](DEBUG): Aggregate::initialize keepstation:KeepStation:Dive
2026-03-13T12:07:18.457Z,1773403638.457 [keepstation:KeepStation:Dive:A] Running Loop=1
2026-03-13T12:07:18.457Z,1773403638.457 [keepstation:KeepStation:Dive:A](DEBUG): Aggregate::initialize keepstation:KeepStation:Dive:A
2026-03-13T12:07:18.458Z,1773403638.458 [keepstation:DiveCmd:StationKeep] Running Loop=1
2026-03-13T12:07:18.458Z,1773403638.458 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::initialize keepstation:DiveCmd:StationKeep
2026-03-13T12:07:18.458Z,1773403638.458 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2026-03-13T12:07:18.458Z,1773403638.458 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2026-03-13T12:07:18.458Z,1773403638.458 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Initialize.
2026-03-13T12:07:18.458Z,1773403638.458 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2026-03-13T12:07:18.458Z,1773403638.458 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2026-03-13T12:07:18.459Z,1773403638.459 [keepstation:DiveCmd:StationKeep:C.KeepStation](INFO): Rest->Waypoint
2026-03-13T12:07:18.461Z,1773403638.461 [keepstation:SurfaceComms:setSink] Stopped
2026-03-13T12:07:18.461Z,1773403638.461 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setSink
2026-03-13T12:07:18.461Z,1773403638.461 [keepstation:SurfaceComms:setSink:A] Stopped
2026-03-13T12:07:18.461Z,1773403638.461 [keepstation:SurfaceComms](INFO): Completed keepstation:SurfaceComms
2026-03-13T12:07:18.461Z,1773403638.461 [keepstation:SurfaceComms] Stopped
2026-03-13T12:07:18.461Z,1773403638.461 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms
2026-03-13T12:07:44.912Z,1773403664.912 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T12:07:47.279Z,1773403667.279 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position -2.43 mm (1 active estimators).
2026-03-13T12:07:48.067Z,1773403668.067 [NAL9602](INFO): Not Powering down - fast GPS
2026-03-13T12:08:16.036Z,1773403696.036 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T12:08:47.160Z,1773403727.160 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T12:08:47.723Z,1773403727.723 [Radio_Surface](INFO): Powering down
2026-03-13T12:08:48.164Z,1773403728.164 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2026-03-13T12:16:49.331Z,1773404209.331 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2026-03-13T12:20:01.217Z,1773404401.217 [keepstation:DiveCmd:StationKeep:C.KeepStation](INFO): Waypoint->Rest
2026-03-13T12:26:49.670Z,1773404809.670 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2026-03-13T12:36:50.006Z,1773405410.006 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2026-03-13T12:41:35.621Z,1773405695.621 [BPC1](ERROR): Battery stick #17 (s/n: 0084) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2026-03-13T12:41:35.622Z,1773405695.622 [BPC1](ERROR): Battery stick #24 (s/n: 01D3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T12:41:35.622Z,1773405695.622 [BPC1](ERROR): Battery stick #29 (s/n: 00A7) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2026-03-13T12:41:35.624Z,1773405695.624 [BPC1](ERROR): Battery stick #30 (s/n: 015F) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T12:41:35.625Z,1773405695.625 [BPC1](ERROR): Battery stick #37 (s/n: 0181) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T12:41:35.625Z,1773405695.625 [BPC1](ERROR): Battery stick #38 (s/n: 01BC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T12:41:35.626Z,1773405695.626 [BPC1](ERROR): Battery stick #39 (s/n: 0189) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T12:41:35.627Z,1773405695.627 [BPC1](ERROR): Battery stick #40 (s/n: 01A4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T12:41:35.628Z,1773405695.628 [BPC1](ERROR): Battery stick #44 (s/n: 01BB) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T12:41:35.628Z,1773405695.628 [BPC1](ERROR): Battery stick #50 (s/n: 019C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T12:41:35.629Z,1773405695.629 [BPC1](ERROR): Battery stick #51 (s/n: 01D6) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T12:41:35.630Z,1773405695.630 [BPC1](ERROR): Battery stick #52 (s/n: 0160) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T12:41:35.630Z,1773405695.630 [BPC1](ERROR): Battery stick #53 (s/n: 01EE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T12:41:35.631Z,1773405695.631 [BPC1](ERROR): Battery stick #56 (s/n: 0183) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T12:41:35.632Z,1773405695.632 [BPC1](ERROR): Battery stick #57 (s/n: 019F) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T12:41:35.633Z,1773405695.633 [BPC1](ERROR): Battery stick #59 (s/n: 0184) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x5AD0.
2026-03-13T12:41:35.633Z,1773405695.633 [BPC1](INFO): Calculating totals. Valid battery stick count: 28. Valid reserve battery stick count: 2.
2026-03-13T12:41:35.639Z,1773405695.639 [BPC1](FAULT): Failed to receive data from 31 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 24, 29, 30, 37, 38, 39, 40, 44, 50, 51, 52, 53, 56, 57, 59.
2026-03-13T12:46:50.364Z,1773406010.364 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2026-03-13T12:56:50.684Z,1773406610.684 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2026-03-13T13:06:51.028Z,1773407211.028 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2026-03-13T13:07:15.685Z,1773407235.685 [keepstation:SurfaceComms] Running Loop=1
2026-03-13T13:07:15.685Z,1773407235.685 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms
2026-03-13T13:07:15.685Z,1773407235.685 [keepstation:SurfaceComms:A] Running Loop=1
2026-03-13T13:07:15.686Z,1773407235.686 [keepstation:SurfaceComms:A] Stopped
2026-03-13T13:07:15.686Z,1773407235.686 [keepstation:SurfaceComms:B] Running Loop=1
2026-03-13T13:07:15.686Z,1773407235.686 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B
2026-03-13T13:07:16.085Z,1773407236.085 [keepstation:KeepStation:Dive] Stopped
2026-03-13T13:07:16.085Z,1773407236.085 [keepstation:KeepStation:Dive](DEBUG): Aggregate::uninitialize keepstation:KeepStation:Dive
2026-03-13T13:07:16.085Z,1773407236.085 [keepstation:KeepStation:Dive:A] Stopped
2026-03-13T13:07:16.085Z,1773407236.085 [keepstation:KeepStation:Dive:A](DEBUG): Aggregate::uninitialize keepstation:KeepStation:Dive:A
2026-03-13T13:07:16.085Z,1773407236.085 [keepstation:DiveCmd:StationKeep] Stopped
2026-03-13T13:07:16.085Z,1773407236.085 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:StationKeep
2026-03-13T13:07:16.085Z,1773407236.085 [keepstation:DiveCmd:StationKeep:A] Stopped
2026-03-13T13:07:16.085Z,1773407236.085 [keepstation:DiveCmd:StationKeep:B.Pitch] Stopped
2026-03-13T13:07:16.085Z,1773407236.085 [keepstation:DiveCmd:StationKeep:C.KeepStation] Stopped
2026-03-13T13:07:16.086Z,1773407236.086 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2026-03-13T13:07:16.087Z,1773407236.087 [keepstation:NeedComms] Running Loop=1
2026-03-13T13:07:16.088Z,1773407236.088 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2026-03-13T13:07:16.088Z,1773407236.088 [keepstation:NeedComms:C.GoToSurface] Running Loop=1
2026-03-13T13:07:16.088Z,1773407236.088 [keepstation:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-03-13T13:07:16.088Z,1773407236.088 [keepstation:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2026-03-13T13:07:16.088Z,1773407236.088 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2026-03-13T13:07:16.089Z,1773407236.089 [keepstation:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2026-03-13T13:07:16.089Z,1773407236.089 [keepstation:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2026-03-13T13:07:16.089Z,1773407236.089 [keepstation:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-03-13T13:07:16.090Z,1773407236.090 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-03-13T13:07:16.090Z,1773407236.090 [keepstation:NeedComms:A] Running Loop=1
2026-03-13T13:07:16.092Z,1773407236.092 [keepstation:NeedComms:A](INFO): last time_fix was:  1773403634.000000 second since 1970/01/01T00:00:00Z 
2026-03-13T13:07:16.092Z,1773407236.092 [keepstation:NeedComms:A] Stopped
2026-03-13T13:07:16.092Z,1773407236.092 [keepstation:NeedComms:setActive] Running Loop=1
2026-03-13T13:07:16.092Z,1773407236.092 [keepstation:NeedComms:setActive](DEBUG): Aggregate::initialize keepstation:NeedComms:setActive
2026-03-13T13:07:16.092Z,1773407236.092 [keepstation:NeedComms:setActive:A] Running Loop=1
2026-03-13T13:07:16.500Z,1773407236.500 [keepstation:NeedComms:setActive:A] Stopped
2026-03-13T13:07:16.500Z,1773407236.500 [keepstation:NeedComms:setActive:B] Running Loop=1
2026-03-13T13:07:16.913Z,1773407236.913 [keepstation:NeedComms:setActive:B] Stopped
2026-03-13T13:07:16.914Z,1773407236.914 [keepstation:NeedComms:setActive](INFO): Completed keepstation:NeedComms:setActive
2026-03-13T13:07:16.914Z,1773407236.914 [keepstation:NeedComms:setActive] Stopped
2026-03-13T13:07:16.914Z,1773407236.914 [keepstation:NeedComms:setActive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setActive
2026-03-13T13:09:10.969Z,1773407350.969 [keepstation:NeedComms:D] Running Loop=1
2026-03-13T13:09:11.611Z,1773407351.611 [Radio_Surface](INFO): Powering up
2026-03-13T13:09:17.222Z,1773407357.222 [DataOverHttps](INFO): Radio surface powered ON.
2026-03-13T13:09:42.974Z,1773407382.974 [NAL9602](INFO): SBD MO Status=0, MOMSN=32794, MT Status=0, MTMSN=0
2026-03-13T13:09:42.974Z,1773407382.974 [NAL9602](INFO): No messages in MT queue
2026-03-13T13:09:44.179Z,1773407384.179 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,130943.00,A,3647.92998,N,12151.02957,W,0.389,182.51,130326,,,A*72
2026-03-13T13:09:44.181Z,1773407384.181 [NAL9602](INFO): GPS fix at 20260313T130943: (36.798833, -121.850493)
2026-03-13T13:09:44.194Z,1773407384.194 [UniversalFixResidualReporter](INFO): Fix residual: 61.7 %DT, over the last 676.5 m. Residual distance 417.3 m at bearing 131.4 degrees. Fix at (36.7988, -121.8505) with 196.9 m made good.
2026-03-13T13:09:44.197Z,1773407384.197 [keepstation:NeedComms:D] Stopped
2026-03-13T13:09:44.197Z,1773407384.197 [keepstation:NeedComms:E] Running Loop=1
2026-03-13T13:09:47.340Z,1773407387.340 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T13:10:02.541Z,1773407402.541 [NAL9602](INFO): SBD MO Status=1, MOMSN=32795, MT Status=0, MTMSN=0
2026-03-13T13:10:02.593Z,1773407402.593 [NAL9602](INFO): Sent 96 bytes from file Logs/20260313T044322/Courier0072.lzma
2026-03-13T13:10:02.594Z,1773407402.594 [NAL9602](INFO): Packets left to send: 0
2026-03-13T13:10:14.686Z,1773407414.686 [NAL9602](INFO): SBD MO Status=1, MOMSN=32796, MT Status=0, MTMSN=0
2026-03-13T13:10:14.736Z,1773407414.736 [NAL9602](INFO): Sent 332 bytes from file Logs/20260313T044322/Express0073.lzma
2026-03-13T13:10:14.736Z,1773407414.736 [NAL9602](INFO): Packets left to send: 1
2026-03-13T13:10:18.472Z,1773407418.472 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T13:10:25.742Z,1773407425.742 [NAL9602](INFO): SBD MO Status=1, MOMSN=32797, MT Status=0, MTMSN=0
2026-03-13T13:10:25.793Z,1773407425.793 [NAL9602](INFO): Sent 231 bytes from file Logs/20260313T044322/Express0073.lzma
2026-03-13T13:10:25.793Z,1773407425.793 [NAL9602](INFO): Packets left to send: 0
2026-03-13T13:10:37.059Z,1773407437.059 [NAL9602](INFO): SBD MO Status=0, MOMSN=32798, MT Status=0, MTMSN=0
2026-03-13T13:10:37.142Z,1773407437.142 [keepstation:NeedComms:E] Stopped
2026-03-13T13:10:37.143Z,1773407437.143 [keepstation:NeedComms:F] Running Loop=1
2026-03-13T13:10:39.482Z,1773407439.482 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,131038.00,A,3647.93059,N,12151.03174,W,0.369,234.45,130326,,,A*7E
2026-03-13T13:10:39.484Z,1773407439.484 [NAL9602](INFO): GPS fix at 20260313T131038: (36.798843, -121.850529)
2026-03-13T13:10:39.498Z,1773407439.498 [keepstation:NeedComms:F] Stopped
2026-03-13T13:10:39.498Z,1773407439.498 [keepstation:NeedComms:setRestoreMode] Running Loop=1
2026-03-13T13:10:39.498Z,1773407439.498 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::initialize keepstation:NeedComms:setRestoreMode
2026-03-13T13:10:39.498Z,1773407439.498 [keepstation:NeedComms:setRestoreMode:A] Running Loop=1
2026-03-13T13:10:39.910Z,1773407439.910 [keepstation:NeedComms:setRestoreMode:A] Stopped
2026-03-13T13:10:39.911Z,1773407439.911 [keepstation:NeedComms:setRestoreMode](INFO): Completed keepstation:NeedComms:setRestoreMode
2026-03-13T13:10:39.911Z,1773407439.911 [keepstation:NeedComms:setRestoreMode] Stopped
2026-03-13T13:10:39.911Z,1773407439.911 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setRestoreMode
2026-03-13T13:10:39.911Z,1773407439.911 [keepstation:NeedComms:setInactive] Running Loop=1
2026-03-13T13:10:39.911Z,1773407439.911 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::initialize keepstation:NeedComms:setInactive
2026-03-13T13:10:39.911Z,1773407439.911 [keepstation:NeedComms:setInactive:A] Running Loop=1
2026-03-13T13:10:40.302Z,1773407440.302 [keepstation:NeedComms:setInactive:A] Stopped
2026-03-13T13:10:40.302Z,1773407440.302 [keepstation:NeedComms:setInactive](INFO): Completed keepstation:NeedComms:setInactive
2026-03-13T13:10:40.302Z,1773407440.302 [keepstation:NeedComms:setInactive] Stopped
2026-03-13T13:10:40.302Z,1773407440.302 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setInactive
2026-03-13T13:10:40.303Z,1773407440.303 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2026-03-13T13:10:40.303Z,1773407440.303 [keepstation:NeedComms] Stopped
2026-03-13T13:10:40.304Z,1773407440.304 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2026-03-13T13:10:40.304Z,1773407440.304 [keepstation:NeedComms:C.GoToSurface] Stopped
2026-03-13T13:10:40.304Z,1773407440.304 [keepstation:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-03-13T13:10:40.719Z,1773407440.719 [keepstation:SurfaceComms:B](INFO): Completed keepstation:SurfaceComms:B
2026-03-13T13:10:40.719Z,1773407440.719 [keepstation:SurfaceComms:B] Stopped
2026-03-13T13:10:40.719Z,1773407440.719 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B
2026-03-13T13:10:40.719Z,1773407440.719 [keepstation:SurfaceComms:HandleNan] Running Loop=1
2026-03-13T13:10:40.720Z,1773407440.720 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan
2026-03-13T13:10:40.720Z,1773407440.720 [keepstation:SurfaceComms:HandleNan:SetOnStation] Running Loop=1
2026-03-13T13:10:40.720Z,1773407440.720 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan:SetOnStation
2026-03-13T13:10:40.720Z,1773407440.720 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Running Loop=1
2026-03-13T13:10:41.104Z,1773407441.104 [keepstation:SurfaceComms:HandleNan] Stopped
2026-03-13T13:10:41.104Z,1773407441.104 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan
2026-03-13T13:10:41.104Z,1773407441.104 [keepstation:SurfaceComms:HandleNan:SetOnStation] Stopped
2026-03-13T13:10:41.105Z,1773407441.105 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan:SetOnStation
2026-03-13T13:10:41.105Z,1773407441.105 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Stopped
2026-03-13T13:10:41.105Z,1773407441.105 [keepstation:SurfaceComms:setTransit] Running Loop=1
2026-03-13T13:10:41.105Z,1773407441.105 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setTransit
2026-03-13T13:10:41.105Z,1773407441.105 [keepstation:SurfaceComms:setTransit:A] Running Loop=1
2026-03-13T13:10:41.506Z,1773407441.506 [keepstation:SurfaceComms:setTransit] Stopped
2026-03-13T13:10:41.506Z,1773407441.506 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setTransit
2026-03-13T13:10:41.506Z,1773407441.506 [keepstation:SurfaceComms:setTransit:A] Stopped
2026-03-13T13:10:41.506Z,1773407441.506 [keepstation:SurfaceComms:setStation] Running Loop=1
2026-03-13T13:10:41.506Z,1773407441.506 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setStation
2026-03-13T13:10:41.506Z,1773407441.506 [keepstation:SurfaceComms:setStation:A] Running Loop=1
2026-03-13T13:10:41.917Z,1773407441.917 [keepstation:SurfaceComms:setStation:A] Stopped
2026-03-13T13:10:41.917Z,1773407441.917 [keepstation:SurfaceComms:setStation](INFO): Completed keepstation:SurfaceComms:setStation
2026-03-13T13:10:41.917Z,1773407441.917 [keepstation:SurfaceComms:setStation] Stopped
2026-03-13T13:10:41.917Z,1773407441.917 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setStation
2026-03-13T13:10:41.917Z,1773407441.917 [keepstation:SurfaceComms:setSink] Running Loop=1
2026-03-13T13:10:41.917Z,1773407441.917 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setSink
2026-03-13T13:10:41.917Z,1773407441.917 [keepstation:SurfaceComms:setSink:A] Running Loop=1
2026-03-13T13:10:42.333Z,1773407442.333 [keepstation:KeepStation:Dive] Running Loop=1
2026-03-13T13:10:42.333Z,1773407442.333 [keepstation:KeepStation:Dive](DEBUG): Aggregate::initialize keepstation:KeepStation:Dive
2026-03-13T13:10:42.333Z,1773407442.333 [keepstation:KeepStation:Dive:A] Running Loop=1
2026-03-13T13:10:42.333Z,1773407442.333 [keepstation:KeepStation:Dive:A](DEBUG): Aggregate::initialize keepstation:KeepStation:Dive:A
2026-03-13T13:10:42.334Z,1773407442.334 [keepstation:DiveCmd:StationKeep] Running Loop=1
2026-03-13T13:10:42.334Z,1773407442.334 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::initialize keepstation:DiveCmd:StationKeep
2026-03-13T13:10:42.334Z,1773407442.334 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2026-03-13T13:10:42.334Z,1773407442.334 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2026-03-13T13:10:42.334Z,1773407442.334 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Initialize.
2026-03-13T13:10:42.334Z,1773407442.334 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2026-03-13T13:10:42.334Z,1773407442.334 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2026-03-13T13:10:42.340Z,1773407442.340 [keepstation:DiveCmd:StationKeep:C.KeepStation](INFO): Rest->Waypoint
2026-03-13T13:10:42.341Z,1773407442.341 [keepstation:SurfaceComms:setSink] Stopped
2026-03-13T13:10:42.341Z,1773407442.341 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setSink
2026-03-13T13:10:42.341Z,1773407442.341 [keepstation:SurfaceComms:setSink:A] Stopped
2026-03-13T13:10:42.341Z,1773407442.341 [keepstation:SurfaceComms](INFO): Completed keepstation:SurfaceComms
2026-03-13T13:10:42.341Z,1773407442.341 [keepstation:SurfaceComms] Stopped
2026-03-13T13:10:42.342Z,1773407442.342 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms
2026-03-13T13:10:49.604Z,1773407449.604 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T13:11:11.286Z,1773407471.286 [NAL9602](INFO): Not Powering down - fast GPS
2026-03-13T13:11:20.736Z,1773407480.736 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T13:11:51.860Z,1773407511.860 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T13:12:20.287Z,1773407540.287 [Radio_Surface](INFO): Powering down
2026-03-13T13:12:22.984Z,1773407542.984 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T13:12:23.988Z,1773407543.988 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2026-03-13T13:14:39.923Z,1773407679.923 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-03-13T13:16:51.167Z,1773407811.167 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2026-03-13T13:21:57.413Z,1773408117.413 [keepstation:DiveCmd:StationKeep:C.KeepStation](INFO): Waypoint->Rest
2026-03-13T13:22:37.393Z,1773408157.393 [BPC1](ERROR): Battery stick #17 (s/n: 0084) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2026-03-13T13:22:37.394Z,1773408157.394 [BPC1](ERROR): Battery stick #24 (s/n: 01D3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T13:22:37.395Z,1773408157.395 [BPC1](ERROR): Battery stick #29 (s/n: 00A7) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2026-03-13T13:22:37.395Z,1773408157.395 [BPC1](ERROR): Battery stick #30 (s/n: 015F) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T13:22:37.396Z,1773408157.396 [BPC1](ERROR): Battery stick #37 (s/n: 0181) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T13:22:37.397Z,1773408157.397 [BPC1](ERROR): Battery stick #38 (s/n: 01BC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T13:22:37.398Z,1773408157.398 [BPC1](ERROR): Battery stick #39 (s/n: 0189) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T13:22:37.398Z,1773408157.398 [BPC1](ERROR): Battery stick #40 (s/n: 01A4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T13:22:37.399Z,1773408157.399 [BPC1](ERROR): Battery stick #44 (s/n: 01BB) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T13:22:37.400Z,1773408157.400 [BPC1](ERROR): Battery stick #50 (s/n: 019C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T13:22:37.401Z,1773408157.401 [BPC1](ERROR): Battery stick #51 (s/n: 01D6) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T13:22:37.401Z,1773408157.401 [BPC1](ERROR): Battery stick #52 (s/n: 0160) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T13:22:37.402Z,1773408157.402 [BPC1](ERROR): Battery stick #53 (s/n: 01EE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T13:22:37.403Z,1773408157.403 [BPC1](ERROR): Battery stick #56 (s/n: 0183) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T13:22:37.404Z,1773408157.404 [BPC1](ERROR): Battery stick #57 (s/n: 019F) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T13:22:37.404Z,1773408157.404 [BPC1](ERROR): Battery stick #59 (s/n: 0184) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x5AD0.
2026-03-13T13:22:37.405Z,1773408157.405 [BPC1](INFO): Calculating totals. Valid battery stick count: 28. Valid reserve battery stick count: 2.
2026-03-13T13:22:37.410Z,1773408157.410 [BPC1](FAULT): Failed to receive data from 31 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 24, 29, 30, 37, 38, 39, 40, 44, 50, 51, 52, 53, 56, 57, 59.
2026-03-13T13:26:51.512Z,1773408411.512 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2026-03-13T13:46:46.137Z,1773409606.137 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2026-03-13T14:03:39.372Z,1773410619.372 [BPC1](ERROR): Battery stick #17 (s/n: 0084) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2026-03-13T14:03:39.373Z,1773410619.373 [BPC1](ERROR): Battery stick #24 (s/n: 01D3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T14:03:39.374Z,1773410619.374 [BPC1](ERROR): Battery stick #29 (s/n: 00A7) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2026-03-13T14:03:39.374Z,1773410619.374 [BPC1](ERROR): Battery stick #30 (s/n: 015F) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T14:03:39.375Z,1773410619.375 [BPC1](ERROR): Battery stick #37 (s/n: 0181) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T14:03:39.376Z,1773410619.376 [BPC1](ERROR): Battery stick #38 (s/n: 01BC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T14:03:39.376Z,1773410619.376 [BPC1](ERROR): Battery stick #39 (s/n: 0189) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T14:03:39.377Z,1773410619.377 [BPC1](ERROR): Battery stick #40 (s/n: 01A4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T14:03:39.378Z,1773410619.378 [BPC1](ERROR): Battery stick #44 (s/n: 01BB) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T14:03:39.379Z,1773410619.379 [BPC1](ERROR): Battery stick #50 (s/n: 019C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T14:03:39.379Z,1773410619.379 [BPC1](ERROR): Battery stick #51 (s/n: 01D6) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T14:03:39.380Z,1773410619.380 [BPC1](ERROR): Battery stick #52 (s/n: 0160) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T14:03:39.381Z,1773410619.381 [BPC1](ERROR): Battery stick #53 (s/n: 01EE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T14:03:39.381Z,1773410619.381 [BPC1](ERROR): Battery stick #56 (s/n: 0183) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T14:03:39.382Z,1773410619.382 [BPC1](ERROR): Battery stick #57 (s/n: 019F) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T14:03:39.383Z,1773410619.383 [BPC1](ERROR): Battery stick #59 (s/n: 0184) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x5AD0.
2026-03-13T14:03:39.383Z,1773410619.383 [BPC1](INFO): Calculating totals. Valid battery stick count: 28. Valid reserve battery stick count: 2.
2026-03-13T14:03:39.401Z,1773410619.401 [BPC1](FAULT): Failed to receive data from 31 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 24, 29, 30, 37, 38, 39, 40, 44, 50, 51, 52, 53, 56, 57, 59.
2026-03-13T14:10:39.558Z,1773411039.558 [keepstation:SurfaceComms] Running Loop=1
2026-03-13T14:10:39.559Z,1773411039.559 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms
2026-03-13T14:10:39.559Z,1773411039.559 [keepstation:SurfaceComms:A] Running Loop=1
2026-03-13T14:10:39.560Z,1773411039.560 [keepstation:SurfaceComms:A] Stopped
2026-03-13T14:10:39.560Z,1773411039.560 [keepstation:SurfaceComms:B] Running Loop=1
2026-03-13T14:10:39.560Z,1773411039.560 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B
2026-03-13T14:10:39.963Z,1773411039.963 [keepstation:KeepStation:Dive] Stopped
2026-03-13T14:10:39.963Z,1773411039.963 [keepstation:KeepStation:Dive](DEBUG): Aggregate::uninitialize keepstation:KeepStation:Dive
2026-03-13T14:10:39.963Z,1773411039.963 [keepstation:KeepStation:Dive:A] Stopped
2026-03-13T14:10:39.964Z,1773411039.964 [keepstation:KeepStation:Dive:A](DEBUG): Aggregate::uninitialize keepstation:KeepStation:Dive:A
2026-03-13T14:10:39.964Z,1773411039.964 [keepstation:DiveCmd:StationKeep] Stopped
2026-03-13T14:10:39.964Z,1773411039.964 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:StationKeep
2026-03-13T14:10:39.964Z,1773411039.964 [keepstation:DiveCmd:StationKeep:A] Stopped
2026-03-13T14:10:39.964Z,1773411039.964 [keepstation:DiveCmd:StationKeep:B.Pitch] Stopped
2026-03-13T14:10:39.964Z,1773411039.964 [keepstation:DiveCmd:StationKeep:C.KeepStation] Stopped
2026-03-13T14:10:39.964Z,1773411039.964 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2026-03-13T14:10:39.966Z,1773411039.966 [keepstation:NeedComms] Running Loop=1
2026-03-13T14:10:39.966Z,1773411039.966 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2026-03-13T14:10:39.966Z,1773411039.966 [keepstation:NeedComms:C.GoToSurface] Running Loop=1
2026-03-13T14:10:39.966Z,1773411039.966 [keepstation:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-03-13T14:10:39.967Z,1773411039.967 [keepstation:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2026-03-13T14:10:39.967Z,1773411039.967 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2026-03-13T14:10:39.972Z,1773411039.972 [keepstation:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2026-03-13T14:10:39.972Z,1773411039.972 [keepstation:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2026-03-13T14:10:39.972Z,1773411039.972 [keepstation:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-03-13T14:10:39.973Z,1773411039.973 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-03-13T14:10:39.973Z,1773411039.973 [keepstation:NeedComms:A] Running Loop=1
2026-03-13T14:10:39.974Z,1773411039.974 [keepstation:NeedComms:A](INFO): last time_fix was:  1773407438.000000 second since 1970/01/01T00:00:00Z 
2026-03-13T14:10:39.974Z,1773411039.974 [keepstation:NeedComms:A] Stopped
2026-03-13T14:10:39.974Z,1773411039.974 [keepstation:NeedComms:setActive] Running Loop=1
2026-03-13T14:10:39.975Z,1773411039.975 [keepstation:NeedComms:setActive](DEBUG): Aggregate::initialize keepstation:NeedComms:setActive
2026-03-13T14:10:39.975Z,1773411039.975 [keepstation:NeedComms:setActive:A] Running Loop=1
2026-03-13T14:10:40.358Z,1773411040.358 [keepstation:NeedComms:setActive:A] Stopped
2026-03-13T14:10:40.358Z,1773411040.358 [keepstation:NeedComms:setActive:B] Running Loop=1
2026-03-13T14:10:40.762Z,1773411040.762 [keepstation:NeedComms:setActive:B] Stopped
2026-03-13T14:10:40.762Z,1773411040.762 [keepstation:NeedComms:setActive](INFO): Completed keepstation:NeedComms:setActive
2026-03-13T14:10:40.762Z,1773411040.762 [keepstation:NeedComms:setActive] Stopped
2026-03-13T14:10:40.762Z,1773411040.762 [keepstation:NeedComms:setActive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setActive
2026-03-13T14:12:40.535Z,1773411160.535 [keepstation:NeedComms:D] Running Loop=1
2026-03-13T14:12:40.964Z,1773411160.964 [Radio_Surface](INFO): Powering up
2026-03-13T14:12:46.776Z,1773411166.776 [DataOverHttps](INFO): Radio surface powered ON.
2026-03-13T14:13:02.890Z,1773411182.890 [NAL9602](INFO): SBD MO Status=0, MOMSN=32799, MT Status=0, MTMSN=0
2026-03-13T14:13:02.890Z,1773411182.890 [NAL9602](INFO): No messages in MT queue
2026-03-13T14:13:04.101Z,1773411184.101 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,141303.00,A,3647.92790,N,12150.74516,W,1.127,153.86,130326,,,A*74
2026-03-13T14:13:04.113Z,1773411184.113 [NAL9602](INFO): GPS fix at 20260313T141303: (36.798798, -121.845753)
2026-03-13T14:13:04.125Z,1773411184.125 [UniversalFixResidualReporter](INFO): Fix residual: 58.4 %DT, over the last 612.0 m. Residual distance 357.7 m at bearing 176.0 degrees. Fix at (36.7988, -121.8457) with 425.3 m made good.
2026-03-13T14:13:04.128Z,1773411184.128 [keepstation:NeedComms:D] Stopped
2026-03-13T14:13:04.128Z,1773411184.128 [keepstation:NeedComms:E] Running Loop=1
2026-03-13T14:13:21.558Z,1773411201.558 [NAL9602](INFO): SBD MO Status=1, MOMSN=32800, MT Status=0, MTMSN=0
2026-03-13T14:13:21.612Z,1773411201.612 [NAL9602](INFO): Sent 95 bytes from file Logs/20260313T044322/Courier0075.lzma
2026-03-13T14:13:21.612Z,1773411201.612 [NAL9602](INFO): Packets left to send: 0
2026-03-13T14:13:31.334Z,1773411211.334 [NAL9602](INFO): SBD MO Status=1, MOMSN=32801, MT Status=0, MTMSN=0
2026-03-13T14:13:31.388Z,1773411211.388 [NAL9602](INFO): Sent 332 bytes from file Logs/20260313T044322/Express0076.lzma
2026-03-13T14:13:31.388Z,1773411211.388 [NAL9602](INFO): Packets left to send: 1
2026-03-13T14:13:44.338Z,1773411224.338 [NAL9602](INFO): SBD MO Status=1, MOMSN=32802, MT Status=0, MTMSN=0
2026-03-13T14:13:44.396Z,1773411224.396 [NAL9602](INFO): Sent 243 bytes from file Logs/20260313T044322/Express0076.lzma
2026-03-13T14:13:44.396Z,1773411224.396 [NAL9602](INFO): Packets left to send: 0
2026-03-13T14:13:52.413Z,1773411232.413 [NAL9602](INFO): SBD MO Status=0, MOMSN=32803, MT Status=0, MTMSN=0
2026-03-13T14:13:52.502Z,1773411232.502 [keepstation:NeedComms:E] Stopped
2026-03-13T14:13:52.502Z,1773411232.502 [keepstation:NeedComms:F] Running Loop=1
2026-03-13T14:13:54.839Z,1773411234.839 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,141354.00,A,3647.92977,N,12150.75105,W,0.292,278.25,130326,,,A*79
2026-03-13T14:13:54.841Z,1773411234.841 [NAL9602](INFO): GPS fix at 20260313T141354: (36.798829, -121.845851)
2026-03-13T14:13:54.854Z,1773411234.854 [keepstation:NeedComms:F] Stopped
2026-03-13T14:13:54.855Z,1773411234.855 [keepstation:NeedComms:setRestoreMode] Running Loop=1
2026-03-13T14:13:54.856Z,1773411234.856 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::initialize keepstation:NeedComms:setRestoreMode
2026-03-13T14:13:54.856Z,1773411234.856 [keepstation:NeedComms:setRestoreMode:A] Running Loop=1
2026-03-13T14:13:55.282Z,1773411235.282 [keepstation:NeedComms:setRestoreMode:A] Stopped
2026-03-13T14:13:55.283Z,1773411235.283 [keepstation:NeedComms:setRestoreMode](INFO): Completed keepstation:NeedComms:setRestoreMode
2026-03-13T14:13:55.283Z,1773411235.283 [keepstation:NeedComms:setRestoreMode] Stopped
2026-03-13T14:13:55.283Z,1773411235.283 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setRestoreMode
2026-03-13T14:13:55.283Z,1773411235.283 [keepstation:NeedComms:setInactive] Running Loop=1
2026-03-13T14:13:55.283Z,1773411235.283 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::initialize keepstation:NeedComms:setInactive
2026-03-13T14:13:55.283Z,1773411235.283 [keepstation:NeedComms:setInactive:A] Running Loop=1
2026-03-13T14:13:55.677Z,1773411235.677 [keepstation:NeedComms:setInactive:A] Stopped
2026-03-13T14:13:55.677Z,1773411235.677 [keepstation:NeedComms:setInactive](INFO): Completed keepstation:NeedComms:setInactive
2026-03-13T14:13:55.678Z,1773411235.678 [keepstation:NeedComms:setInactive] Stopped
2026-03-13T14:13:55.678Z,1773411235.678 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setInactive
2026-03-13T14:13:55.678Z,1773411235.678 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2026-03-13T14:13:55.678Z,1773411235.678 [keepstation:NeedComms] Stopped
2026-03-13T14:13:55.679Z,1773411235.679 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2026-03-13T14:13:55.679Z,1773411235.679 [keepstation:NeedComms:C.GoToSurface] Stopped
2026-03-13T14:13:55.679Z,1773411235.679 [keepstation:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-03-13T14:13:56.072Z,1773411236.072 [keepstation:SurfaceComms:B](INFO): Completed keepstation:SurfaceComms:B
2026-03-13T14:13:56.072Z,1773411236.072 [keepstation:SurfaceComms:B] Stopped
2026-03-13T14:13:56.072Z,1773411236.072 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B
2026-03-13T14:13:56.072Z,1773411236.072 [keepstation:SurfaceComms:HandleNan] Running Loop=1
2026-03-13T14:13:56.072Z,1773411236.072 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan
2026-03-13T14:13:56.072Z,1773411236.072 [keepstation:SurfaceComms:HandleNan:SetOnStation] Running Loop=1
2026-03-13T14:13:56.072Z,1773411236.072 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan:SetOnStation
2026-03-13T14:13:56.072Z,1773411236.072 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Running Loop=1
2026-03-13T14:13:56.484Z,1773411236.484 [keepstation:SurfaceComms:HandleNan] Stopped
2026-03-13T14:13:56.484Z,1773411236.484 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan
2026-03-13T14:13:56.484Z,1773411236.484 [keepstation:SurfaceComms:HandleNan:SetOnStation] Stopped
2026-03-13T14:13:56.485Z,1773411236.485 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan:SetOnStation
2026-03-13T14:13:56.485Z,1773411236.485 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Stopped
2026-03-13T14:13:56.485Z,1773411236.485 [keepstation:SurfaceComms:setTransit] Running Loop=1
2026-03-13T14:13:56.485Z,1773411236.485 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setTransit
2026-03-13T14:13:56.485Z,1773411236.485 [keepstation:SurfaceComms:setTransit:A] Running Loop=1
2026-03-13T14:13:56.900Z,1773411236.900 [keepstation:SurfaceComms:setTransit] Stopped
2026-03-13T14:13:56.900Z,1773411236.900 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setTransit
2026-03-13T14:13:56.900Z,1773411236.900 [keepstation:SurfaceComms:setTransit:A] Stopped
2026-03-13T14:13:56.900Z,1773411236.900 [keepstation:SurfaceComms:setStation] Running Loop=1
2026-03-13T14:13:56.900Z,1773411236.900 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setStation
2026-03-13T14:13:56.900Z,1773411236.900 [keepstation:SurfaceComms:setStation:A] Running Loop=1
2026-03-13T14:13:57.280Z,1773411237.280 [keepstation:SurfaceComms:setStation:A] Stopped
2026-03-13T14:13:57.281Z,1773411237.281 [keepstation:SurfaceComms:setStation](INFO): Completed keepstation:SurfaceComms:setStation
2026-03-13T14:13:57.281Z,1773411237.281 [keepstation:SurfaceComms:setStation] Stopped
2026-03-13T14:13:57.281Z,1773411237.281 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setStation
2026-03-13T14:13:57.282Z,1773411237.282 [keepstation:SurfaceComms:setSink] Running Loop=1
2026-03-13T14:13:57.282Z,1773411237.282 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setSink
2026-03-13T14:13:57.282Z,1773411237.282 [keepstation:SurfaceComms:setSink:A] Running Loop=1
2026-03-13T14:13:57.677Z,1773411237.677 [keepstation:KeepStation:Dive] Running Loop=1
2026-03-13T14:13:57.677Z,1773411237.677 [keepstation:KeepStation:Dive](DEBUG): Aggregate::initialize keepstation:KeepStation:Dive
2026-03-13T14:13:57.677Z,1773411237.677 [keepstation:KeepStation:Dive:A] Running Loop=1
2026-03-13T14:13:57.677Z,1773411237.677 [keepstation:KeepStation:Dive:A](DEBUG): Aggregate::initialize keepstation:KeepStation:Dive:A
2026-03-13T14:13:57.678Z,1773411237.678 [keepstation:DiveCmd:StationKeep] Running Loop=1
2026-03-13T14:13:57.678Z,1773411237.678 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::initialize keepstation:DiveCmd:StationKeep
2026-03-13T14:13:57.678Z,1773411237.678 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2026-03-13T14:13:57.678Z,1773411237.678 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2026-03-13T14:13:57.678Z,1773411237.678 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Initialize.
2026-03-13T14:13:57.678Z,1773411237.678 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2026-03-13T14:13:57.678Z,1773411237.678 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2026-03-13T14:13:57.680Z,1773411237.680 [keepstation:DiveCmd:StationKeep:C.KeepStation](INFO): Rest->Waypoint
2026-03-13T14:13:57.686Z,1773411237.686 [keepstation:SurfaceComms:setSink] Stopped
2026-03-13T14:13:57.686Z,1773411237.686 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setSink
2026-03-13T14:13:57.686Z,1773411237.686 [keepstation:SurfaceComms:setSink:A] Stopped
2026-03-13T14:13:57.686Z,1773411237.686 [keepstation:SurfaceComms](INFO): Completed keepstation:SurfaceComms
2026-03-13T14:13:57.686Z,1773411237.686 [keepstation:SurfaceComms] Stopped
2026-03-13T14:13:57.686Z,1773411237.686 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms
2026-03-13T14:14:27.349Z,1773411267.349 [NAL9602](INFO): Not Powering down - fast GPS
2026-03-13T14:15:33.445Z,1773411333.445 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T14:15:38.843Z,1773411338.843 [Radio_Surface](INFO): Powering down
2026-03-13T14:16:04.588Z,1773411364.588 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T14:16:05.592Z,1773411365.592 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2026-03-13T14:22:12.140Z,1773411732.140 [keepstation:DiveCmd:StationKeep:C.KeepStation](INFO): Waypoint->Rest
2026-03-13T14:28:26.218Z,1773412106.218 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2026-03-13T14:44:41.134Z,1773413081.134 [BPC1](ERROR): Battery stick #17 (s/n: 0084) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2026-03-13T14:44:41.135Z,1773413081.135 [BPC1](ERROR): Battery stick #24 (s/n: 01D3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T14:44:41.136Z,1773413081.136 [BPC1](ERROR): Battery stick #29 (s/n: 00A7) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2026-03-13T14:44:41.137Z,1773413081.137 [BPC1](ERROR): Battery stick #30 (s/n: 015F) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T14:44:41.137Z,1773413081.137 [BPC1](ERROR): Battery stick #37 (s/n: 0181) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T14:44:41.138Z,1773413081.138 [BPC1](ERROR): Battery stick #38 (s/n: 01BC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T14:44:41.139Z,1773413081.139 [BPC1](ERROR): Battery stick #39 (s/n: 0189) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T14:44:41.140Z,1773413081.140 [BPC1](ERROR): Battery stick #40 (s/n: 01A4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T14:44:41.140Z,1773413081.140 [BPC1](ERROR): Battery stick #44 (s/n: 01BB) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T14:44:41.141Z,1773413081.141 [BPC1](ERROR): Battery stick #50 (s/n: 019C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T14:44:41.142Z,1773413081.142 [BPC1](ERROR): Battery stick #51 (s/n: 01D6) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T14:44:41.142Z,1773413081.142 [BPC1](ERROR): Battery stick #52 (s/n: 0160) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T14:44:41.143Z,1773413081.143 [BPC1](ERROR): Battery stick #53 (s/n: 01EE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T14:44:41.144Z,1773413081.144 [BPC1](ERROR): Battery stick #56 (s/n: 0183) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T14:44:41.145Z,1773413081.145 [BPC1](ERROR): Battery stick #57 (s/n: 019F) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T14:44:41.145Z,1773413081.145 [BPC1](ERROR): Battery stick #59 (s/n: 0184) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x5AD0.
2026-03-13T14:44:41.146Z,1773413081.146 [BPC1](INFO): Calculating totals. Valid battery stick count: 30. Valid reserve battery stick count: 2.
2026-03-13T14:44:41.151Z,1773413081.151 [BPC1](FAULT): Failed to receive data from 30 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 24, 29, 30, 37, 38, 39, 40, 44, 50, 51, 52, 53, 56, 57, 59.
2026-03-13T15:13:54.859Z,1773414834.859 [keepstation:SurfaceComms] Running Loop=1
2026-03-13T15:13:54.860Z,1773414834.860 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms
2026-03-13T15:13:54.860Z,1773414834.860 [keepstation:SurfaceComms:A] Running Loop=1
2026-03-13T15:13:54.860Z,1773414834.860 [keepstation:SurfaceComms:A] Stopped
2026-03-13T15:13:54.860Z,1773414834.860 [keepstation:SurfaceComms:B] Running Loop=1
2026-03-13T15:13:54.861Z,1773414834.861 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B
2026-03-13T15:13:55.263Z,1773414835.263 [keepstation:KeepStation:Dive] Stopped
2026-03-13T15:13:55.263Z,1773414835.263 [keepstation:KeepStation:Dive](DEBUG): Aggregate::uninitialize keepstation:KeepStation:Dive
2026-03-13T15:13:55.263Z,1773414835.263 [keepstation:KeepStation:Dive:A] Stopped
2026-03-13T15:13:55.263Z,1773414835.263 [keepstation:KeepStation:Dive:A](DEBUG): Aggregate::uninitialize keepstation:KeepStation:Dive:A
2026-03-13T15:13:55.264Z,1773414835.264 [keepstation:DiveCmd:StationKeep] Stopped
2026-03-13T15:13:55.264Z,1773414835.264 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:StationKeep
2026-03-13T15:13:55.264Z,1773414835.264 [keepstation:DiveCmd:StationKeep:A] Stopped
2026-03-13T15:13:55.264Z,1773414835.264 [keepstation:DiveCmd:StationKeep:B.Pitch] Stopped
2026-03-13T15:13:55.264Z,1773414835.264 [keepstation:DiveCmd:StationKeep:C.KeepStation] Stopped
2026-03-13T15:13:55.264Z,1773414835.264 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2026-03-13T15:13:55.266Z,1773414835.266 [keepstation:NeedComms] Running Loop=1
2026-03-13T15:13:55.266Z,1773414835.266 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2026-03-13T15:13:55.266Z,1773414835.266 [keepstation:NeedComms:C.GoToSurface] Running Loop=1
2026-03-13T15:13:55.266Z,1773414835.266 [keepstation:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-03-13T15:13:55.266Z,1773414835.266 [keepstation:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2026-03-13T15:13:55.267Z,1773414835.267 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2026-03-13T15:13:55.267Z,1773414835.267 [keepstation:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2026-03-13T15:13:55.268Z,1773414835.268 [keepstation:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2026-03-13T15:13:55.268Z,1773414835.268 [keepstation:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-03-13T15:13:55.268Z,1773414835.268 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-03-13T15:13:55.268Z,1773414835.268 [keepstation:NeedComms:A] Running Loop=1
2026-03-13T15:13:55.270Z,1773414835.270 [keepstation:NeedComms:A](INFO): last time_fix was:  1773411234.000000 second since 1970/01/01T00:00:00Z 
2026-03-13T15:13:55.270Z,1773414835.270 [keepstation:NeedComms:A] Stopped
2026-03-13T15:13:55.270Z,1773414835.270 [keepstation:NeedComms:setActive] Running Loop=1
2026-03-13T15:13:55.270Z,1773414835.270 [keepstation:NeedComms:setActive](DEBUG): Aggregate::initialize keepstation:NeedComms:setActive
2026-03-13T15:13:55.270Z,1773414835.270 [keepstation:NeedComms:setActive:A] Running Loop=1
2026-03-13T15:13:55.677Z,1773414835.677 [keepstation:NeedComms:setActive:A] Stopped
2026-03-13T15:13:55.677Z,1773414835.677 [keepstation:NeedComms:setActive:B] Running Loop=1
2026-03-13T15:13:56.072Z,1773414836.072 [keepstation:NeedComms:setActive:B] Stopped
2026-03-13T15:13:56.072Z,1773414836.072 [keepstation:NeedComms:setActive](INFO): Completed keepstation:NeedComms:setActive
2026-03-13T15:13:56.072Z,1773414836.072 [keepstation:NeedComms:setActive] Stopped
2026-03-13T15:13:56.072Z,1773414836.072 [keepstation:NeedComms:setActive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setActive
2026-03-13T15:15:55.673Z,1773414955.673 [keepstation:NeedComms:D] Running Loop=1
2026-03-13T15:15:56.304Z,1773414956.304 [Radio_Surface](INFO): Powering up
2026-03-13T15:16:01.564Z,1773414961.564 [DataOverHttps](INFO): Radio surface powered ON.
2026-03-13T15:16:22.754Z,1773414982.754 [NAL9602](INFO): SBD MO Status=0, MOMSN=32804, MT Status=0, MTMSN=0
2026-03-13T15:16:22.754Z,1773414982.754 [NAL9602](INFO): No messages in MT queue
2026-03-13T15:16:23.958Z,1773414983.958 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,151623.00,A,3647.85267,N,12150.87376,W,0.952,159.30,130326,,,A*79
2026-03-13T15:16:23.960Z,1773414983.960 [NAL9602](INFO): GPS fix at 20260313T151623: (36.797545, -121.847896)
2026-03-13T15:16:23.978Z,1773414983.978 [keepstation:NeedComms:D] Stopped
2026-03-13T15:16:23.978Z,1773414983.978 [keepstation:NeedComms:E] Running Loop=1
2026-03-13T15:16:31.684Z,1773414991.684 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T15:16:42.630Z,1773415002.630 [NAL9602](INFO): SBD MO Status=1, MOMSN=32805, MT Status=0, MTMSN=0
2026-03-13T15:16:42.684Z,1773415002.684 [NAL9602](INFO): Sent 85 bytes from file Logs/20260313T044322/Courier0078.lzma
2026-03-13T15:16:42.684Z,1773415002.684 [NAL9602](INFO): Packets left to send: 0
2026-03-13T15:16:55.228Z,1773415015.228 [Sonardyne_Nano](ERROR): Failed to parse response: >VS:2311,HPR45,EXT,TILT

2026-03-13T15:16:58.469Z,1773415018.469 [NAL9602](INFO): SBD MO Status=2, MOMSN=32806, MT Status=2, MTMSN=0
2026-03-13T15:16:58.469Z,1773415018.469 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T15:17:02.808Z,1773415022.808 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T15:17:21.574Z,1773415041.574 [NAL9602](INFO): SBD MO Status=2, MOMSN=32806, MT Status=2, MTMSN=0
2026-03-13T15:17:21.574Z,1773415041.574 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T15:17:33.932Z,1773415053.932 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T15:17:42.679Z,1773415062.679 [NAL9602](INFO): SBD MO Status=1, MOMSN=32806, MT Status=0, MTMSN=0
2026-03-13T15:17:42.728Z,1773415062.728 [NAL9602](INFO): Sent 332 bytes from file Logs/20260313T044322/Express0079.lzma
2026-03-13T15:17:42.728Z,1773415062.728 [NAL9602](INFO): Packets left to send: 1
2026-03-13T15:17:55.765Z,1773415075.765 [NAL9602](INFO): SBD MO Status=1, MOMSN=32807, MT Status=0, MTMSN=0
2026-03-13T15:17:55.816Z,1773415075.816 [NAL9602](INFO): Sent 222 bytes from file Logs/20260313T044322/Express0079.lzma
2026-03-13T15:17:55.816Z,1773415075.816 [NAL9602](INFO): Packets left to send: 0
2026-03-13T15:18:05.068Z,1773415085.068 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T15:18:06.294Z,1773415086.294 [NAL9602](INFO): SBD MO Status=0, MOMSN=32808, MT Status=0, MTMSN=0
2026-03-13T15:18:06.389Z,1773415086.389 [keepstation:NeedComms:E] Stopped
2026-03-13T15:18:06.390Z,1773415086.390 [keepstation:NeedComms:F] Running Loop=1
2026-03-13T15:18:08.694Z,1773415088.694 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,151808.00,A,3647.85303,N,12150.88758,W,0.544,315.35,130326,,,A*7E
2026-03-13T15:18:08.696Z,1773415088.696 [NAL9602](INFO): GPS fix at 20260313T151808: (36.797550, -121.848126)
2026-03-13T15:18:08.710Z,1773415088.710 [keepstation:NeedComms:F] Stopped
2026-03-13T15:18:08.710Z,1773415088.710 [keepstation:NeedComms:setRestoreMode] Running Loop=1
2026-03-13T15:18:08.710Z,1773415088.710 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::initialize keepstation:NeedComms:setRestoreMode
2026-03-13T15:18:08.710Z,1773415088.710 [keepstation:NeedComms:setRestoreMode:A] Running Loop=1
2026-03-13T15:18:09.130Z,1773415089.130 [keepstation:NeedComms:setRestoreMode:A] Stopped
2026-03-13T15:18:09.131Z,1773415089.131 [keepstation:NeedComms:setRestoreMode](INFO): Completed keepstation:NeedComms:setRestoreMode
2026-03-13T15:18:09.131Z,1773415089.131 [keepstation:NeedComms:setRestoreMode] Stopped
2026-03-13T15:18:09.131Z,1773415089.131 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setRestoreMode
2026-03-13T15:18:09.131Z,1773415089.131 [keepstation:NeedComms:setInactive] Running Loop=1
2026-03-13T15:18:09.131Z,1773415089.131 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::initialize keepstation:NeedComms:setInactive
2026-03-13T15:18:09.147Z,1773415089.147 [keepstation:NeedComms:setInactive:A] Running Loop=1
2026-03-13T15:18:09.524Z,1773415089.524 [keepstation:NeedComms:setInactive:A] Stopped
2026-03-13T15:18:09.524Z,1773415089.524 [keepstation:NeedComms:setInactive](INFO): Completed keepstation:NeedComms:setInactive
2026-03-13T15:18:09.524Z,1773415089.524 [keepstation:NeedComms:setInactive] Stopped
2026-03-13T15:18:09.524Z,1773415089.524 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setInactive
2026-03-13T15:18:09.525Z,1773415089.525 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2026-03-13T15:18:09.525Z,1773415089.525 [keepstation:NeedComms] Stopped
2026-03-13T15:18:09.525Z,1773415089.525 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2026-03-13T15:18:09.525Z,1773415089.525 [keepstation:NeedComms:C.GoToSurface] Stopped
2026-03-13T15:18:09.525Z,1773415089.525 [keepstation:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-03-13T15:18:09.927Z,1773415089.927 [keepstation:SurfaceComms:B](INFO): Completed keepstation:SurfaceComms:B
2026-03-13T15:18:09.927Z,1773415089.927 [keepstation:SurfaceComms:B] Stopped
2026-03-13T15:18:09.927Z,1773415089.927 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B
2026-03-13T15:18:09.928Z,1773415089.928 [keepstation:SurfaceComms:HandleNan] Running Loop=1
2026-03-13T15:18:09.928Z,1773415089.928 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan
2026-03-13T15:18:09.928Z,1773415089.928 [keepstation:SurfaceComms:HandleNan:SetOnStation] Running Loop=1
2026-03-13T15:18:09.928Z,1773415089.928 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan:SetOnStation
2026-03-13T15:18:09.928Z,1773415089.928 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Running Loop=1
2026-03-13T15:18:10.325Z,1773415090.325 [keepstation:SurfaceComms:HandleNan] Stopped
2026-03-13T15:18:10.325Z,1773415090.325 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan
2026-03-13T15:18:10.325Z,1773415090.325 [keepstation:SurfaceComms:HandleNan:SetOnStation] Stopped
2026-03-13T15:18:10.325Z,1773415090.325 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan:SetOnStation
2026-03-13T15:18:10.325Z,1773415090.325 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Stopped
2026-03-13T15:18:10.325Z,1773415090.325 [keepstation:SurfaceComms:setTransit] Running Loop=1
2026-03-13T15:18:10.325Z,1773415090.325 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setTransit
2026-03-13T15:18:10.325Z,1773415090.325 [keepstation:SurfaceComms:setTransit:A] Running Loop=1
2026-03-13T15:18:10.738Z,1773415090.738 [keepstation:SurfaceComms:setTransit] Stopped
2026-03-13T15:18:10.738Z,1773415090.738 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setTransit
2026-03-13T15:18:10.738Z,1773415090.738 [keepstation:SurfaceComms:setTransit:A] Stopped
2026-03-13T15:18:10.738Z,1773415090.738 [keepstation:SurfaceComms:setStation] Running Loop=1
2026-03-13T15:18:10.738Z,1773415090.738 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setStation
2026-03-13T15:18:10.738Z,1773415090.738 [keepstation:SurfaceComms:setStation:A] Running Loop=1
2026-03-13T15:18:11.130Z,1773415091.130 [keepstation:SurfaceComms:setStation:A] Stopped
2026-03-13T15:18:11.130Z,1773415091.130 [keepstation:SurfaceComms:setStation](INFO): Completed keepstation:SurfaceComms:setStation
2026-03-13T15:18:11.130Z,1773415091.130 [keepstation:SurfaceComms:setStation] Stopped
2026-03-13T15:18:11.130Z,1773415091.130 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setStation
2026-03-13T15:18:11.130Z,1773415091.130 [keepstation:SurfaceComms:setSink] Running Loop=1
2026-03-13T15:18:11.130Z,1773415091.130 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setSink
2026-03-13T15:18:11.130Z,1773415091.130 [keepstation:SurfaceComms:setSink:A] Running Loop=1
2026-03-13T15:18:11.541Z,1773415091.541 [keepstation:KeepStation:Dive] Running Loop=1
2026-03-13T15:18:11.541Z,1773415091.541 [keepstation:KeepStation:Dive](DEBUG): Aggregate::initialize keepstation:KeepStation:Dive
2026-03-13T15:18:11.541Z,1773415091.541 [keepstation:KeepStation:Dive:A] Running Loop=1
2026-03-13T15:18:11.541Z,1773415091.541 [keepstation:KeepStation:Dive:A](DEBUG): Aggregate::initialize keepstation:KeepStation:Dive:A
2026-03-13T15:18:11.542Z,1773415091.542 [keepstation:DiveCmd:StationKeep] Running Loop=1
2026-03-13T15:18:11.542Z,1773415091.542 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::initialize keepstation:DiveCmd:StationKeep
2026-03-13T15:18:11.542Z,1773415091.542 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2026-03-13T15:18:11.542Z,1773415091.542 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2026-03-13T15:18:11.542Z,1773415091.542 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Initialize.
2026-03-13T15:18:11.542Z,1773415091.542 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2026-03-13T15:18:11.542Z,1773415091.542 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2026-03-13T15:18:11.544Z,1773415091.544 [keepstation:SurfaceComms:setSink] Stopped
2026-03-13T15:18:11.544Z,1773415091.544 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setSink
2026-03-13T15:18:11.544Z,1773415091.544 [keepstation:SurfaceComms:setSink:A] Stopped
2026-03-13T15:18:11.544Z,1773415091.544 [keepstation:SurfaceComms](INFO): Completed keepstation:SurfaceComms
2026-03-13T15:18:11.545Z,1773415091.545 [keepstation:SurfaceComms] Stopped
2026-03-13T15:18:11.545Z,1773415091.545 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms
2026-03-13T15:18:36.192Z,1773415116.192 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T15:18:41.441Z,1773415121.441 [NAL9602](INFO): Not Powering down - fast GPS
2026-03-13T15:19:07.316Z,1773415147.316 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T15:19:36.024Z,1773415176.024 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.015299
2026-03-13T15:19:53.730Z,1773415193.730 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2026-03-13T15:20:39.868Z,1773415239.868 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T15:21:11.004Z,1773415271.004 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T15:21:18.303Z,1773415278.303 [Radio_Surface](INFO): Powering down
2026-03-13T15:21:42.144Z,1773415302.144 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T15:21:43.148Z,1773415303.148 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2026-03-13T15:22:47.440Z,1773415367.440 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.790543
2026-03-13T15:25:43.192Z,1773415543.192 [BPC1](ERROR): Battery stick #17 (s/n: 0084) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2026-03-13T15:25:43.192Z,1773415543.192 [BPC1](ERROR): Battery stick #24 (s/n: 01D3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T15:25:43.193Z,1773415543.193 [BPC1](ERROR): Battery stick #29 (s/n: 00A7) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2026-03-13T15:25:43.194Z,1773415543.194 [BPC1](ERROR): Battery stick #30 (s/n: 015F) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T15:25:43.194Z,1773415543.194 [BPC1](ERROR): Battery stick #37 (s/n: 0181) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T15:25:43.195Z,1773415543.195 [BPC1](ERROR): Battery stick #38 (s/n: 01BC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T15:25:43.196Z,1773415543.196 [BPC1](ERROR): Battery stick #39 (s/n: 0189) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T15:25:43.197Z,1773415543.197 [BPC1](ERROR): Battery stick #40 (s/n: 01A4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T15:25:43.197Z,1773415543.197 [BPC1](ERROR): Battery stick #44 (s/n: 01BB) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T15:25:43.198Z,1773415543.198 [BPC1](ERROR): Battery stick #50 (s/n: 019C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T15:25:43.199Z,1773415543.199 [BPC1](ERROR): Battery stick #51 (s/n: 01D6) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T15:25:43.200Z,1773415543.200 [BPC1](ERROR): Battery stick #52 (s/n: 0160) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T15:25:43.200Z,1773415543.200 [BPC1](ERROR): Battery stick #53 (s/n: 01EE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T15:25:43.201Z,1773415543.201 [BPC1](ERROR): Battery stick #56 (s/n: 0183) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T15:25:43.202Z,1773415543.202 [BPC1](ERROR): Battery stick #57 (s/n: 019F) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T15:25:43.202Z,1773415543.202 [BPC1](ERROR): Battery stick #59 (s/n: 0184) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x5AD0.
2026-03-13T15:25:43.203Z,1773415543.203 [BPC1](INFO): Calculating totals. Valid battery stick count: 28. Valid reserve battery stick count: 2.
2026-03-13T15:25:43.209Z,1773415543.209 [BPC1](FAULT): Failed to receive data from 30 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 24, 29, 30, 37, 38, 39, 40, 44, 50, 51, 52, 53, 56, 57, 59.
2026-03-13T16:06:45.170Z,1773418005.170 [BPC1](ERROR): Battery stick #17 (s/n: 0084) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2026-03-13T16:06:45.171Z,1773418005.171 [BPC1](ERROR): Battery stick #24 (s/n: 01D3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T16:06:45.172Z,1773418005.172 [BPC1](ERROR): Battery stick #29 (s/n: 00A7) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2026-03-13T16:06:45.173Z,1773418005.173 [BPC1](ERROR): Battery stick #30 (s/n: 015F) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T16:06:45.174Z,1773418005.174 [BPC1](ERROR): Battery stick #37 (s/n: 0181) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T16:06:45.174Z,1773418005.174 [BPC1](ERROR): Battery stick #38 (s/n: 01BC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T16:06:45.175Z,1773418005.175 [BPC1](ERROR): Battery stick #39 (s/n: 0189) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T16:06:45.176Z,1773418005.176 [BPC1](ERROR): Battery stick #40 (s/n: 01A4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T16:06:45.176Z,1773418005.176 [BPC1](ERROR): Battery stick #44 (s/n: 01BB) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T16:06:45.177Z,1773418005.177 [BPC1](ERROR): Battery stick #50 (s/n: 019C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T16:06:45.178Z,1773418005.178 [BPC1](ERROR): Battery stick #51 (s/n: 01D6) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T16:06:45.179Z,1773418005.179 [BPC1](ERROR): Battery stick #52 (s/n: 0160) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T16:06:45.179Z,1773418005.179 [BPC1](ERROR): Battery stick #53 (s/n: 01EE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T16:06:45.180Z,1773418005.180 [BPC1](ERROR): Battery stick #56 (s/n: 0183) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T16:06:45.181Z,1773418005.181 [BPC1](ERROR): Battery stick #57 (s/n: 019F) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T16:06:45.181Z,1773418005.181 [BPC1](ERROR): Battery stick #59 (s/n: 0184) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x5AD0.
2026-03-13T16:06:45.182Z,1773418005.182 [BPC1](INFO): Calculating totals. Valid battery stick count: 28. Valid reserve battery stick count: 2.
2026-03-13T16:06:45.188Z,1773418005.188 [BPC1](FAULT): Failed to receive data from 30 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 24, 29, 30, 37, 38, 39, 40, 44, 50, 51, 52, 53, 56, 57, 59.
2026-03-13T16:18:08.761Z,1773418688.761 [keepstation:SurfaceComms] Running Loop=1
2026-03-13T16:18:08.762Z,1773418688.762 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms
2026-03-13T16:18:08.762Z,1773418688.762 [keepstation:SurfaceComms:A] Running Loop=1
2026-03-13T16:18:08.762Z,1773418688.762 [keepstation:SurfaceComms:A] Stopped
2026-03-13T16:18:08.762Z,1773418688.762 [keepstation:SurfaceComms:B] Running Loop=1
2026-03-13T16:18:08.762Z,1773418688.762 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B
2026-03-13T16:18:09.158Z,1773418689.158 [keepstation:KeepStation:Dive] Stopped
2026-03-13T16:18:09.159Z,1773418689.159 [keepstation:KeepStation:Dive](DEBUG): Aggregate::uninitialize keepstation:KeepStation:Dive
2026-03-13T16:18:09.159Z,1773418689.159 [keepstation:KeepStation:Dive:A] Stopped
2026-03-13T16:18:09.159Z,1773418689.159 [keepstation:KeepStation:Dive:A](DEBUG): Aggregate::uninitialize keepstation:KeepStation:Dive:A
2026-03-13T16:18:09.175Z,1773418689.175 [keepstation:DiveCmd:StationKeep] Stopped
2026-03-13T16:18:09.175Z,1773418689.175 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:StationKeep
2026-03-13T16:18:09.176Z,1773418689.176 [keepstation:DiveCmd:StationKeep:A] Stopped
2026-03-13T16:18:09.176Z,1773418689.176 [keepstation:DiveCmd:StationKeep:B.Pitch] Stopped
2026-03-13T16:18:09.176Z,1773418689.176 [keepstation:DiveCmd:StationKeep:C.KeepStation] Stopped
2026-03-13T16:18:09.176Z,1773418689.176 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2026-03-13T16:18:09.177Z,1773418689.177 [keepstation:NeedComms] Running Loop=1
2026-03-13T16:18:09.177Z,1773418689.177 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2026-03-13T16:18:09.178Z,1773418689.178 [keepstation:NeedComms:C.GoToSurface] Running Loop=1
2026-03-13T16:18:09.178Z,1773418689.178 [keepstation:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-03-13T16:18:09.178Z,1773418689.178 [keepstation:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2026-03-13T16:18:09.178Z,1773418689.178 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2026-03-13T16:18:09.179Z,1773418689.179 [keepstation:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2026-03-13T16:18:09.183Z,1773418689.183 [keepstation:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2026-03-13T16:18:09.184Z,1773418689.184 [keepstation:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-03-13T16:18:09.184Z,1773418689.184 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-03-13T16:18:09.184Z,1773418689.184 [keepstation:NeedComms:A] Running Loop=1
2026-03-13T16:18:09.186Z,1773418689.186 [keepstation:NeedComms:A](INFO): last time_fix was:  1773415088.000000 second since 1970/01/01T00:00:00Z 
2026-03-13T16:18:09.186Z,1773418689.186 [keepstation:NeedComms:A] Stopped
2026-03-13T16:18:09.186Z,1773418689.186 [keepstation:NeedComms:setActive] Running Loop=1
2026-03-13T16:18:09.186Z,1773418689.186 [keepstation:NeedComms:setActive](DEBUG): Aggregate::initialize keepstation:NeedComms:setActive
2026-03-13T16:18:09.186Z,1773418689.186 [keepstation:NeedComms:setActive:A] Running Loop=1
2026-03-13T16:18:09.566Z,1773418689.566 [keepstation:NeedComms:setActive:A] Stopped
2026-03-13T16:18:09.566Z,1773418689.566 [keepstation:NeedComms:setActive:B] Running Loop=1
2026-03-13T16:18:09.970Z,1773418689.970 [keepstation:NeedComms:setActive:B] Stopped
2026-03-13T16:18:09.970Z,1773418689.970 [keepstation:NeedComms:setActive](INFO): Completed keepstation:NeedComms:setActive
2026-03-13T16:18:09.970Z,1773418689.970 [keepstation:NeedComms:setActive] Stopped
2026-03-13T16:18:09.970Z,1773418689.970 [keepstation:NeedComms:setActive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setActive
2026-03-13T16:20:21.814Z,1773418821.814 [keepstation:NeedComms:D] Running Loop=1
2026-03-13T16:20:22.288Z,1773418822.288 [Radio_Surface](INFO): Powering up
2026-03-13T16:20:27.916Z,1773418827.916 [DataOverHttps](INFO): Radio surface powered ON.
2026-03-13T16:20:39.570Z,1773418839.570 [NAL9602](INFO): SBD MO Status=2, MOMSN=32809, MT Status=2, MTMSN=0
2026-03-13T16:20:39.570Z,1773418839.570 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T16:20:58.036Z,1773418858.036 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T16:21:10.282Z,1773418870.282 [NAL9602](INFO): SBD MO Status=2, MOMSN=32809, MT Status=2, MTMSN=0
2026-03-13T16:21:10.282Z,1773418870.282 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T16:21:29.168Z,1773418889.168 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T16:21:40.174Z,1773418900.174 [NAL9602](INFO): SBD MO Status=2, MOMSN=32809, MT Status=2, MTMSN=0
2026-03-13T16:21:40.174Z,1773418900.174 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T16:22:00.304Z,1773418920.304 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T16:22:00.775Z,1773418920.775 [NAL9602](INFO): SBD MO Status=2, MOMSN=32809, MT Status=2, MTMSN=0
2026-03-13T16:22:00.775Z,1773418920.775 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T16:22:12.495Z,1773418932.495 [NAL9602](INFO): SBD MO Status=0, MOMSN=32809, MT Status=0, MTMSN=0
2026-03-13T16:22:12.495Z,1773418932.495 [NAL9602](INFO): No messages in MT queue
2026-03-13T16:22:13.703Z,1773418933.703 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,162213.00,A,3648.03566,N,12151.02957,W,0.719,340.65,130326,,,A*77
2026-03-13T16:22:13.705Z,1773418933.705 [NAL9602](INFO): GPS fix at 20260313T162213: (36.800594, -121.850493)
2026-03-13T16:22:13.724Z,1773418933.724 [keepstation:NeedComms:D] Stopped
2026-03-13T16:22:13.725Z,1773418933.725 [keepstation:NeedComms:E] Running Loop=1
2026-03-13T16:22:30.730Z,1773418950.730 [NAL9602](INFO): SBD MO Status=2, MOMSN=32810, MT Status=2, MTMSN=0
2026-03-13T16:22:30.730Z,1773418950.730 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T16:22:31.432Z,1773418951.432 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T16:22:53.810Z,1773418973.810 [NAL9602](INFO): SBD MO Status=2, MOMSN=32810, MT Status=2, MTMSN=0
2026-03-13T16:22:53.810Z,1773418973.810 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T16:23:02.556Z,1773418982.556 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T16:23:14.469Z,1773418994.469 [NAL9602](INFO): SBD MO Status=1, MOMSN=32810, MT Status=0, MTMSN=0
2026-03-13T16:23:14.520Z,1773418994.520 [NAL9602](INFO): Sent 85 bytes from file Logs/20260313T044322/Courier0081.lzma
2026-03-13T16:23:14.520Z,1773418994.520 [NAL9602](INFO): Packets left to send: 0
2026-03-13T16:23:33.681Z,1773419013.681 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T16:23:35.574Z,1773419015.574 [NAL9602](INFO): SBD MO Status=2, MOMSN=32811, MT Status=2, MTMSN=0
2026-03-13T16:23:35.574Z,1773419015.574 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T16:24:02.704Z,1773419042.704 [NAL9602](INFO): SBD MO Status=2, MOMSN=32811, MT Status=2, MTMSN=0
2026-03-13T16:24:02.704Z,1773419042.704 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T16:24:03.177Z,1773419043.177 [DataOverHttps](IMPORTANT): SBD MTMSN=20260313T162402
2026-03-13T16:24:03.181Z,1773419043.181 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003747
2026-03-13T16:24:10.652Z,1773419050.652 [DataOverHttps](INFO): Sending 516 bytes from file Logs/20260313T044322/Express0082.lzma
2026-03-13T16:24:10.655Z,1773419050.655 [DataOverHttps](INFO): Received command: sched asap "load Transport/keepstation.tl;set keepstation.MissionTimeout 3 h;set keepstation.NeedCommsTime 20 min;set keepstation.Latitude 36.806966 degree;set keepstation.Longitude -121.824326 degree;set keepstation.Depth 10 m" 1bi6u 1 2
2026-03-13T16:24:10.668Z,1773419050.668 [CommandExec](IMPORTANT): got command schedule asap "load Transport/keepstation.tl;set keepstation.MissionTimeout 3 h;set keepstation.NeedCommsTime 20 min;set keepstation.Latitude 36.806966 degree;set keepstation.Longitude -121.824326 degree;set keepstation.Depth 10 m" 1bi6u 1 2.000000
2026-03-13T16:24:10.669Z,1773419050.669 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=1bi6u
2026-03-13T16:24:10.670Z,1773419050.670 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 2 with id='1bi6u'): "load Transport/keepstation.tl;set keepstation.MissionTimeout 3 h;set keepstation.NeedCommsTime 20 min;set keepstation.Latitude 36.806966 degree;set keepstation.Longitude -121.824326 degree;set keepstation.Depth 10 m", ASAP
2026-03-13T16:24:11.842Z,1773419051.842 [DataOverHttps](INFO): Moved sent file to Logs/20260313T044322/Express0082.lzma.bak
2026-03-13T16:24:11.842Z,1773419051.842 [DataOverHttps](IMPORTANT): SBD MOMSN=26733573, MTMSN=20260313T162410
2026-03-13T16:24:19.233Z,1773419059.233 [DataOverHttps](INFO): Received command: sched asap "set keepstation.ApproachDepth 10 m;set keepstation.Speed 1 m/s;set keepstation.MaxDepth 20 m;run" 1bi6u 2 2
2026-03-13T16:24:19.318Z,1773419059.318 [CommandExec](IMPORTANT): got command schedule asap "set keepstation.ApproachDepth 10 m;set keepstation.Speed 1 m/s;set keepstation.MaxDepth 20 m;run" 1bi6u 2 2.000000
2026-03-13T16:24:19.319Z,1773419059.319 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=1bi6u
2026-03-13T16:24:19.322Z,1773419059.322 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 2 with id='1bi6u'): "set keepstation.ApproachDepth 10 m;set keepstation.Speed 1 m/s;set keepstation.MaxDepth 20 m;run", ASAP
2026-03-13T16:24:19.433Z,1773419059.433 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2026-03-13T16:24:19.434Z,1773419059.434 [MissionManager](INFO): Uninitializing Mission keepstation
2026-03-13T16:24:19.434Z,1773419059.434 [keepstation] Stopped
2026-03-13T16:24:19.434Z,1773419059.434 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2026-03-13T16:24:19.434Z,1773419059.434 [keepstation:NeedComms] Stopped
2026-03-13T16:24:19.434Z,1773419059.434 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2026-03-13T16:24:19.434Z,1773419059.434 [keepstation:NeedComms:C.GoToSurface] Stopped
2026-03-13T16:24:19.434Z,1773419059.434 [keepstation:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-03-13T16:24:19.434Z,1773419059.434 [keepstation:NeedComms:E] Stopped
2026-03-13T16:24:19.434Z,1773419059.434 [keepstation:StandardEnvelopes] Stopped
2026-03-13T16:24:19.434Z,1773419059.434 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2026-03-13T16:24:19.434Z,1773419059.434 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2026-03-13T16:24:19.434Z,1773419059.434 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2026-03-13T16:24:19.435Z,1773419059.435 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2026-03-13T16:24:19.435Z,1773419059.435 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2026-03-13T16:24:19.435Z,1773419059.435 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2026-03-13T16:24:19.435Z,1773419059.435 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2026-03-13T16:24:19.435Z,1773419059.435 [keepstation:BackseatDriver] Stopped
2026-03-13T16:24:19.435Z,1773419059.435 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2026-03-13T16:24:19.455Z,1773419059.455 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2026-03-13T16:24:19.455Z,1773419059.455 [keepstation:PowerOnly] Stopped
2026-03-13T16:24:19.455Z,1773419059.455 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2026-03-13T16:24:19.456Z,1773419059.456 [keepstation:PowerOnly:E.Wait] Stopped
2026-03-13T16:24:19.456Z,1773419059.456 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2026-03-13T16:24:19.456Z,1773419059.456 [keepstation:H.Pitch] Stopped
2026-03-13T16:24:19.456Z,1773419059.456 [keepstation:SurfaceComms] Stopped
2026-03-13T16:24:19.456Z,1773419059.456 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms
2026-03-13T16:24:19.456Z,1773419059.456 [keepstation:SurfaceComms:B] Stopped
2026-03-13T16:24:19.456Z,1773419059.456 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B
2026-03-13T16:24:19.456Z,1773419059.456 [keepstation:DiveCmd] Stopped
2026-03-13T16:24:19.456Z,1773419059.456 [keepstation:DiveCmd](DEBUG): Aggregate::uninitialize keepstation:DiveCmd
2026-03-13T16:24:19.456Z,1773419059.456 [keepstation:KeepStation] Stopped
2026-03-13T16:24:19.456Z,1773419059.456 [keepstation:KeepStation](DEBUG): Aggregate::uninitialize keepstation:KeepStation
2026-03-13T16:24:19.456Z,1773419059.456 [keepstation:KeepStation:B.Wait] Stopped
2026-03-13T16:24:19.457Z,1773419059.457 [keepstation:KeepStation:B.Wait](DEBUG): Uninitialize Wait Component.
2026-03-13T16:24:19.529Z,1773419059.529 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2026-03-13T16:24:19.530Z,1773419059.530 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2026-03-13T16:24:19.540Z,1773419059.540 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2026-03-13T16:24:20.902Z,1773419060.902 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/keepstation.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="keepstation">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>0.75</Value>
    </DefineArg>
    <DefineArg Name="Radius">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="SinkOffSurface">
        <False />
    </DefineArg>
    <DefineArg Name="SinkDepth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SinkDepthTimeout">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineOutput Name="DiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DoingComms">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="SurfaceSink">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="TransitToStation">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="StationKeep">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <DefineOutput Name="OnStation">
        <False />
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Pitch>
        <Parallel />
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="SurfaceComms">
        <When>
            <Called />
            <Or>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedCommsTime" />
                </Gt>
            </Or>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="DoingComms" />
        </Assign>
        <Call RefId="NeedComms" PriorityHere="false" />
        <Aggregate Id="HandleNan">
            <Sequence />
            <Break>
                <Not>
                    <IsNaN>
                        <Arg Name="Latitude" />
                    </IsNaN>
                </Not>
                <And>
                    <Not>
                        <IsNaN>
                            <Arg Name="Longitude" />
                        </IsNaN>
                    </Not>
                </And>
            </Break>
            <Aggregate Id="SetOnStation">
                <Sequence />
                <Break>
                    <Not>
                        <IsNaN>
                            <Arg Name="Latitude" />
                        </IsNaN>
                    </Not>
                    <Or>
                        <Not>
                            <IsNaN>
                                <Arg Name="Longitude" />
                            </IsNaN>
                        </Not>
                    </Or>
                </Break>
                <Assign>
                    <Sequence />
                    <Arg Name="OnStation" />
                    <True />
                </Assign>
            </Aggregate>
            <Aggregate Id="SetLat">
                <Sequence />
                <Break>
                    <Not>
                        <IsNaN>
                            <Arg Name="Latitude" />
                        </IsNaN>
                    </Not>
                </Break>
                <Assign>
                    <Sequence />
                    <Arg Name="Latitude" />
                    <Universal:latitude_fix />
                </Assign>
            </Aggregate>
            <Aggregate Id="SetLon">
                <Sequence />
                <Break>
                    <Not>
                        <IsNaN>
                            <Arg Name="Longitude" />
                        </IsNaN>
                    </Not>
                </Break>
                <Assign>
                    <Sequence />
                    <Arg Name="Longitude" />
                    <Universal:longitude_fix />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="setTransit">
            <Sequence />
            <Break>
                <Arg Name="SinkOffSurface" />
                <Or>
                    <Arg Name="OnStation" />
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="TransitToStation" />
            </Assign>
        </Aggregate>
        <Aggregate Id="setStation">
            <Sequence />
            <Break>
                <Arg Name="SinkOffSurface" />
                <Or>
                    <Not>
                        <Arg Name="OnStation" />
                    </Not>
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="StationKeep" />
            </Assign>
        </Aggregate>
        <Aggregate Id="setSink">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="SinkOffSurface" />
                </Not>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="SurfaceSink" />
            </Assign>
        </Aggregate>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="StartingMission" PriorityHere="false" />
    <Aggregate Id="DiveCmd">
        <When>
            <Called />
        </When>
        <Aggregate Id="SurfaceSink">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SurfaceSink" />
                </Eq>
            </While>
            <Aggregate Id="sink">
                <Sequence />
                <Guidance:Buoyancy Id="BuoyancyHold">
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Units:cubic_centimeter />
                        <Value>NaN</Value>
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Units:meter_per_second />
                        <Value>0</Value>
                    </Setting>
                </Guidance:SetSpeed>
                <Syslog Severity="Info">
                    Sinking to 
                    <Arg Name="SinkDepth" />
                    <Units:meter />
                </Syslog>
                <Guidance:Pitch>
                    <Sequence />
                    <Timeout Duration="SinkDepthTimeout">
                        <Syslog Severity="Important">
                            Timed out while trying to reach target sink depth at current depth of 
                            <Universal:depth />
                            <Units:meter />
                        </Syslog>
                    </Timeout>
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="SinkDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Aggregate Id="sinkToTransit">
                    <Sequence />
                    <Break>
                        <Arg Name="OnStation" />
                    </Break>
                    <Assign>
                        <Sequence />
                        <Arg Name="DiveMode" />
                        <Arg Name="TransitToStation" />
                    </Assign>
                </Aggregate>
                <Aggregate Id="sinkToStation">
                    <Sequence />
                    <Break>
                        <Not>
                            <Arg Name="OnStation" />
                        </Not>
                    </Break>
                    <Assign>
                        <Sequence />
                        <Arg Name="DiveMode" />
                        <Arg Name="StationKeep" />
                    </Assign>
                </Aggregate>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="TransitToStation">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="TransitToStation" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Control:VerticalControl.buoyancyNeutral />
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="ApproachDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Arg Name="Speed" />
                    </Setting>
                </Guidance:SetSpeed>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="StationKeep">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="StationKeep" />
                </Eq>
            </While>
            <Assign>
                <Parallel />
                <Control:VerticalControl.depthDeadband />
                <Arg Name="DepthDeadband" />
            </Assign>
            <Guidance:Pitch>
                <Parallel />
                <Setting>
                    <Guidance:Pitch.depth />
                    <Arg Name="Depth" />
                </Setting>
            </Guidance:Pitch>
            <Guidance:KeepStation>
                <Parallel />
                <Setting>
                    <Guidance:KeepStation.latitude />
                    <Arg Name="Latitude" />
                </Setting>
                <Setting>
                    <Guidance:KeepStation.longitude />
                    <Arg Name="Longitude" />
                </Setting>
                <Setting>
                    <Guidance:KeepStation.radius />
                    <Arg Name="Radius" />
                </Setting>
                <Setting>
                    <Guidance:KeepStation.speed />
                    <Arg Name="Speed" />
                </Setting>
            </Guidance:KeepStation>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="TransitToStation">
        <Sequence />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" PriorityHere="false" />
        </Aggregate>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
        </Guidance:Waypoint>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="StationKeep" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="OnStation" />
            <True />
        </Assign>
    </Aggregate>
    <Call RefId="NeedComms" Id="OnStation" PriorityHere="false" />
    <Aggregate Id="KeepStation">
        <Sequence />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" PriorityHere="false" />
        </Aggregate>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="MissionTimeout" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
</Mission>

2026-03-13T16:24:20.917Z,1773419060.917 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2026-03-13T16:24:20.940Z,1773419060.940 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2026-03-13T16:24:20.942Z,1773419060.942 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2026-03-13T16:24:20.946Z,1773419060.946 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2026-03-13T16:24:20.956Z,1773419060.956 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2026-03-13T16:24:20.958Z,1773419060.958 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2026-03-13T16:24:20.965Z,1773419060.965 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2026-03-13T16:24:20.967Z,1773419060.967 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2026-03-13T16:24:20.982Z,1773419060.982 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2026-03-13T16:24:20.988Z,1773419060.988 [MissionManager](INFO): DefineArg keepstation.SinkOffSurface = 0 bool
2026-03-13T16:24:20.990Z,1773419060.990 [MissionManager](INFO): DefineArg keepstation.SinkDepth = 10.000000 m
2026-03-13T16:24:20.994Z,1773419060.994 [MissionManager](INFO): DefineArg keepstation.SinkDepthTimeout = 10.000000 min
2026-03-13T16:24:21.009Z,1773419061.009 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2026-03-13T16:24:21.014Z,1773419061.014 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2026-03-13T16:24:21.025Z,1773419061.025 [MissionManager](INFO): DefineOutput keepstation.DiveMode = 0.000000 count
2026-03-13T16:24:21.031Z,1773419061.031 [MissionManager](INFO): DefineOutput keepstation.DoingComms = 0.000000 count
2026-03-13T16:24:21.034Z,1773419061.034 [MissionManager](INFO): DefineOutput keepstation.SurfaceSink = 1.000000 count
2026-03-13T16:24:21.036Z,1773419061.036 [MissionManager](INFO): DefineOutput keepstation.TransitToStation = 2.000000 count
2026-03-13T16:24:21.039Z,1773419061.039 [MissionManager](INFO): DefineOutput keepstation.StationKeep = 3.000000 count
2026-03-13T16:24:21.049Z,1773419061.049 [MissionManager](INFO): DefineOutput keepstation.OnStation = 0 bool
2026-03-13T16:24:21.050Z,1773419061.050 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2026-03-13T16:24:21.050Z,1773419061.050 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2026-03-13T16:24:21.052Z,1773419061.052 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2026-03-13T16:24:21.438Z,1773419061.438 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1500</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="DoingCommsMode">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="RestoreMode">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="IsActive">
        <False />
    </DefineOutput>
    <DefineOutput Name="RequiredDiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Aggregate Id="setActive">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="RequiredDiveMode" />
            <Arg Name="DoingCommsMode" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="IsActive" />
            <True />
        </Assign>
    </Aggregate>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <Aggregate Id="setRestoreMode">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="RequiredDiveMode" />
            <Arg Name="RestoreMode" />
        </Assign>
    </Aggregate>
    <Aggregate Id="setInactive">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="IsActive" />
            <False />
        </Assign>
    </Aggregate>
</Aggregate>

2026-03-13T16:24:21.444Z,1773419061.444 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2026-03-13T16:24:21.446Z,1773419061.446 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2026-03-13T16:24:21.461Z,1773419061.461 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2026-03-13T16:24:21.464Z,1773419061.464 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2026-03-13T16:24:21.466Z,1773419061.466 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2026-03-13T16:24:21.468Z,1773419061.468 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1500.000000 s
2026-03-13T16:24:21.470Z,1773419061.470 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2026-03-13T16:24:21.473Z,1773419061.473 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2026-03-13T16:24:21.475Z,1773419061.475 [MissionManager](INFO): DefineArg keepstation:NeedComms.DoingCommsMode = 0.000000 count
2026-03-13T16:24:21.477Z,1773419061.477 [MissionManager](INFO): DefineArg keepstation:NeedComms.RestoreMode = 0.000000 count
2026-03-13T16:24:21.479Z,1773419061.479 [MissionManager](INFO): DefineOutput keepstation:NeedComms.IsActive = 0 bool
2026-03-13T16:24:21.482Z,1773419061.482 [MissionManager](INFO): DefineOutput keepstation:NeedComms.RequiredDiveMode = 0.000000 count
2026-03-13T16:24:21.490Z,1773419061.490 [keepstation:NeedComms:C.GoToSurface](DEBUG): Construct GoToSurface.
2026-03-13T16:24:21.546Z,1773419061.546 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2026-03-13T16:24:21.546Z,1773419061.546 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2026-03-13T16:24:21.549Z,1773419061.549 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2026-03-13T16:24:21.635Z,1773419061.635 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2026-03-13T16:24:21.639Z,1773419061.639 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2026-03-13T16:24:21.641Z,1773419061.641 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2026-03-13T16:24:21.644Z,1773419061.644 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2026-03-13T16:24:21.646Z,1773419061.646 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2026-03-13T16:24:21.647Z,1773419061.647 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2026-03-13T16:24:21.655Z,1773419061.655 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2026-03-13T16:24:21.721Z,1773419061.721 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2026-03-13T16:24:21.745Z,1773419061.745 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2026-03-13T16:24:21.745Z,1773419061.745 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2026-03-13T16:24:21.746Z,1773419061.746 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2026-03-13T16:24:21.794Z,1773419061.794 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2026-03-13T16:24:21.797Z,1773419061.797 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2026-03-13T16:24:21.800Z,1773419061.800 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2026-03-13T16:24:21.802Z,1773419061.802 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2026-03-13T16:24:21.802Z,1773419061.802 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2026-03-13T16:24:21.803Z,1773419061.803 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2026-03-13T16:24:21.916Z,1773419061.916 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2026-03-13T16:24:21.919Z,1773419061.919 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2026-03-13T16:24:21.921Z,1773419061.921 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2026-03-13T16:24:21.923Z,1773419061.923 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2026-03-13T16:24:21.943Z,1773419061.943 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2026-03-13T16:24:21.946Z,1773419061.946 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 0 bool
2026-03-13T16:24:21.952Z,1773419061.952 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2026-03-13T16:24:21.954Z,1773419061.954 [keepstation:H.Pitch](DEBUG): Construct.
2026-03-13T16:24:21.995Z,1773419061.995 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2026-03-13T16:24:21.998Z,1773419061.998 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2026-03-13T16:24:22.001Z,1773419062.001 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2026-03-13T16:24:22.014Z,1773419062.014 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Construct Buoyancy.
2026-03-13T16:24:22.017Z,1773419062.017 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Construct.
2026-03-13T16:24:22.022Z,1773419062.022 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Construct.
2026-03-13T16:24:22.027Z,1773419062.027 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Construct.
2026-03-13T16:24:22.040Z,1773419062.040 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Construct KeepStation.
2026-03-13T16:24:22.048Z,1773419062.048 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2026-03-13T16:24:22.064Z,1773419062.064 [keepstation:KeepStation:B.Wait](DEBUG): Construct Wait.
2026-03-13T16:24:22.125Z,1773419062.125 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission keepstation {
  """
  Vehicle transits to desired waypoint (or stays put if none is commanded)
  and stays within the specified radius.
  """

  arguments {
    MissionTimeout = 4 hour
      """
      Maximum duration of mission
      """

    NeedCommsTime = 45 minute
      """
      How often to surface for communications
      """

    Latitude = NaN degree
      """
      Latitude of waypoint to hold. If NaN, hold the latitude at start of
      mission.
      """

    Longitude = NaN degree
      """
      Longitude of waypoint to hold. If NaN, hold the longitude at start of
      mission.
      """

    Depth = 30 meter
      """
      Depth held during drift mode
      """

    ApproachDepth = 15 meter
      """
      Depth for initial approach to station.
      """

    DepthDeadband = 4 meter
      """
      How much vertical drift from the specified depth is allowed in drift
      mode
      """

    Speed = 0.75 meter_per_second
      """
      Vehicle transit speed.
      """

    Radius = 200 meter
      """
      Radius of circle around waypoint to hold.
      """

    SinkOffSurface = false
      """
      If true, use buoyancy only to decend to SinkDepth before driving to first target depth
      """

    SinkDepth = 10 meter
      """
      Initial depth to decend using only buoyancy before driving
      """

    SinkDepthTimeout = 10 minute
      """
      Max wait time for the vehicle to reach the target depth
      """

    MaxDepth = 45 meter
      """
      Maximum allowable depth during the mission.
      """

    MinOffshore = 2 kilometer
      """
      Minimum distance from the shoreline to maintain
      """
  }

  output {
    DiveMode = 0 count
      """
      Mission variable (don't change). The mission sets this variable to
      switch between dive modes. Initialized to DoingComms.
      """

    DoingComms = 0 count
      """
      Mission variable (don't change). The mission will run in this mode
      when doing surface comms.
      """

    SurfaceSink = 1 count
      """
      Mission variable (don't change). The mission will run in this mode
      when sinking from the surface using only buoyancy.
      """

    TransitToStation = 2 count
      """
      Mission variable (don't change). The mission will run in this mode
      when performing the transit to station
      """

    StationKeep = 3 count
      """
      Mission variable (don't change). The mission will run in this mode
      when keeping station
      """

    OnStation = false
      """
      Mission variable (don't change). Determines last mode (Transit or StationKeep)
      to resume after needcomms
      """
  }

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  behavior Guidance:Pitch {
    run in parallel

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate SurfaceComms {
    run when (
      called
      or ( elapsed ( Universal:time_fix ) > NeedCommsTime )
    )

    assign in sequence DiveMode = DoingComms

    call priorityHere=false refId="NeedComms"

    aggregate HandleNan {
      run in sequence

      break if (
        not isNaN ( Latitude )
        and not isNaN ( Longitude )
      )

      # If both lat and lon are nan, we are implicitly on station and should skip initial transit, so force OnStation to true
      aggregate SetOnStation {
        run in sequence

        break if (
          not isNaN ( Latitude )
          or not isNaN ( Longitude )
        )

        assign in sequence OnStation = true
      }

      # The "assigns" here mean we should only ever run these aggregates once
      # An initial NaN lat/lon should be set here during the initial surface NeedComms call
      # Use the most recent fix -- if there isn't one, the keepstation behavior will use Universal:lat/lon
      aggregate SetLat {
        run in sequence

        break if ( not isNaN ( Latitude ) )

        assign in sequence Latitude = Universal:latitude_fix
      }

      aggregate SetLon {
        run in sequence

        break if ( not isNaN ( Longitude ) )

        assign in sequence Longitude = Universal:longitude_fix
      }
    }

    aggregate setTransit {
      run in sequence

      break if (
        SinkOffSurface
        or OnStation
      )

      assign in sequence DiveMode = TransitToStation
    }

    aggregate setStation {
      run in sequence

      break if (
        SinkOffSurface
        or not OnStation
      )

      assign in sequence DiveMode = StationKeep
    }

    aggregate setSink {
      run in sequence

      break if ( not SinkOffSurface )

      assign in sequence DiveMode = SurfaceSink
    }
  }

  call id="StartingMission" priorityHere=false refId="SurfaceComms"

  aggregate DiveCmd {
    run when ( called )

    aggregate SurfaceSink {
      run while ( DiveMode == SurfaceSink )

      aggregate sink {
        run in sequence

        behavior Guidance:Buoyancy id="BuoyancyHold" {
          run in parallel

          set position = NaN cc
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = 0 m/s
        }

        syslog info "Sinking to " + SinkDepth~meter

        behavior Guidance:Pitch {
          run in sequence

          timeout duration=SinkDepthTimeout {
            syslog important "Timed out while trying to reach target sink depth at current depth of "
                 + Universal:depth~meter
          }

          set depth = SinkDepth
        }

        # Once we've sunk, either resume transit or station keeping depths and speeds
        aggregate sinkToTransit {
          run in sequence

          break if ( OnStation )

          assign in sequence DiveMode = TransitToStation
        }

        aggregate sinkToStation {
          run in sequence

          break if ( not OnStation )

          assign in sequence DiveMode = StationKeep
        }
      }
    }

    aggregate TransitToStation {
      run while ( DiveMode == TransitToStation )

      aggregate dive {
        run in sequence

        behavior Guidance:Buoyancy {
          run in parallel

          set position = Control:VerticalControl.buoyancyNeutral
        }

        behavior Guidance:Pitch {
          run in parallel

          set depth = ApproachDepth
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = Speed
        }
      }
    }

    aggregate StationKeep {
      run while ( DiveMode == StationKeep )

      assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband

      behavior Guidance:Pitch {
        run in parallel

        set depth = Depth
      }

      behavior Guidance:KeepStation {
        run in parallel

        set latitude = Latitude
        set longitude = Longitude
        set radius = Radius
        set speed = Speed
      }
    }
  }

  aggregate TransitToStation {
    """
    Need a separate aggregate for transit if we want to specify a
    different depth for the approach.
    """

    run in sequence

    aggregate Dive {
      run while ( not ( DiveMode == DoingComms ) )

      call priorityHere=false refId="DiveCmd"
    }

    behavior Guidance:Waypoint id="Wpt1" {
      run in sequence

      set latitude = Latitude
      set longitude = Longitude
    }

    assign in sequence DiveMode = StationKeep
    assign in sequence OnStation = true
  }

  call id="OnStation" priorityHere=false refId="NeedComms"

  aggregate KeepStation {
    run in sequence

    aggregate Dive {
      run while ( not ( DiveMode == DoingComms ) )

      call priorityHere=false refId="DiveCmd"
    }

    behavior Guidance:Wait {
      """
      Due to the way the KeepStation behavior is currently
      implemented, we must run it in parallel and use a Wait to keep
      from completing the mission before the timeout expires. However,
      this new version of the mission uses a top-level timeout so that
      the entire mission will not run for longer then MissionTimeout.
      """

      run in sequence

      set duration = MissionTimeout
    }
  }
}


2026-03-13T16:24:22.126Z,1773419062.126 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2026-03-13T16:24:22.515Z,1773419062.515 [MissionManager](IMPORTANT): Started mission Default
2026-03-13T16:24:22.519Z,1773419062.519 [Default] Running Loop=1
2026-03-13T16:24:22.519Z,1773419062.519 [Default](DEBUG): Aggregate::initialize Default
2026-03-13T16:24:22.519Z,1773419062.519 [Default:B.GoToSurface] Running Loop=1
2026-03-13T16:24:22.520Z,1773419062.520 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-03-13T16:24:22.520Z,1773419062.520 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2026-03-13T16:24:22.520Z,1773419062.520 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2026-03-13T16:24:22.520Z,1773419062.520 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2026-03-13T16:24:22.521Z,1773419062.521 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2026-03-13T16:24:22.521Z,1773419062.521 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-03-13T16:24:22.521Z,1773419062.521 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-03-13T16:24:22.522Z,1773419062.522 [Default:A.Wait] Running Loop=1
2026-03-13T16:24:22.522Z,1773419062.522 [Default:A.Wait](DEBUG): Initialize Wait Component.
2026-03-13T16:24:31.087Z,1773419071.087 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20260313T044322/Courier0084.lzma
2026-03-13T16:24:32.089Z,1773419072.089 [DataOverHttps](INFO): Moved sent file to Logs/20260313T044322/Courier0084.lzma.bak
2026-03-13T16:24:32.090Z,1773419072.090 [DataOverHttps](INFO): SBD MOMSN=26733581
2026-03-13T16:24:34.209Z,1773419074.209 [NAL9602](INFO): Not Powering down - fast GPS
2026-03-13T16:24:35.845Z,1773419075.845 [Default:A.Wait](INFO): Done Waiting.
2026-03-13T16:24:35.845Z,1773419075.845 [Default:A.Wait] Stopped
2026-03-13T16:24:35.845Z,1773419075.845 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2026-03-13T16:24:36.273Z,1773419076.273 [Default:CheckIn] Running Loop=1
2026-03-13T16:24:36.273Z,1773419076.273 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2026-03-13T16:24:36.273Z,1773419076.273 [Default:CheckIn:Read_GPS] Running Loop=1
2026-03-13T16:24:38.246Z,1773419078.246 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,162437.00,A,3648.05469,N,12151.04294,W,1.283,356.28,130326,,,A*74
2026-03-13T16:24:38.248Z,1773419078.248 [NAL9602](INFO): GPS fix at 20260313T162437: (36.800911, -121.850716)
2026-03-13T16:24:38.300Z,1773419078.300 [Default:CheckIn:Read_GPS] Stopped
2026-03-13T16:24:38.300Z,1773419078.300 [Default:CheckIn:Read_Iridium] Running Loop=1
2026-03-13T16:24:38.901Z,1773419078.901 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 3 hour
2026-03-13T16:24:38.902Z,1773419078.902 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 20 minute
2026-03-13T16:24:38.903Z,1773419078.903 [CommandExec](IMPORTANT): got command set keepstation.Latitude 36.806966 degree
2026-03-13T16:24:38.904Z,1773419078.904 [CommandExec](IMPORTANT): got command set keepstation.Longitude -121.824326 degree
2026-03-13T16:24:38.905Z,1773419078.905 [CommandExec](IMPORTANT): got command set keepstation.Depth 10 meter
2026-03-13T16:24:52.738Z,1773419092.738 [CommandExec](IMPORTANT): got command set keepstation.ApproachDepth 10 meter
2026-03-13T16:24:52.739Z,1773419092.739 [CommandExec](IMPORTANT): got command set keepstation.Speed 1 meter_per_second
2026-03-13T16:24:52.740Z,1773419092.740 [CommandExec](IMPORTANT): got command set keepstation.MaxDepth 20 meter
2026-03-13T16:24:52.740Z,1773419092.740 [CommandExec](IMPORTANT): got command run
2026-03-13T16:24:52.742Z,1773419092.742 [CommandExec](IMPORTANT): Running 
2026-03-13T16:24:52.960Z,1773419092.960 [Default] Stopped
2026-03-13T16:24:52.960Z,1773419092.960 [Default](DEBUG): Aggregate::uninitialize Default
2026-03-13T16:24:52.960Z,1773419092.960 [Default:B.GoToSurface] Stopped
2026-03-13T16:24:52.960Z,1773419092.960 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-03-13T16:24:52.960Z,1773419092.960 [Default:CheckIn] Stopped
2026-03-13T16:24:52.960Z,1773419092.960 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2026-03-13T16:24:52.960Z,1773419092.960 [Default:CheckIn:Read_Iridium] Stopped
2026-03-13T16:24:52.960Z,1773419092.960 [MissionManager](IMPORTANT): Started mission keepstation
2026-03-13T16:24:52.961Z,1773419092.961 [keepstation] Running Loop=1
2026-03-13T16:24:52.961Z,1773419092.961 [keepstation](DEBUG): Aggregate::initialize keepstation
2026-03-13T16:24:52.961Z,1773419092.961 [keepstation:StandardEnvelopes] Running Loop=1
2026-03-13T16:24:52.961Z,1773419092.961 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2026-03-13T16:24:52.961Z,1773419092.961 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2026-03-13T16:24:52.961Z,1773419092.961 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2026-03-13T16:24:52.961Z,1773419092.961 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2026-03-13T16:24:52.961Z,1773419092.961 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2026-03-13T16:24:52.962Z,1773419092.962 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2026-03-13T16:24:52.962Z,1773419092.962 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2026-03-13T16:24:52.962Z,1773419092.962 [keepstation:BackseatDriver] Running Loop=1
2026-03-13T16:24:52.962Z,1773419092.962 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2026-03-13T16:24:52.962Z,1773419092.962 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2026-03-13T16:24:52.962Z,1773419092.962 [keepstation:PowerOnly] Running Loop=1
2026-03-13T16:24:52.962Z,1773419092.962 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2026-03-13T16:24:52.962Z,1773419092.962 [keepstation:PowerOnly:A] Running Loop=1
2026-03-13T16:24:52.962Z,1773419092.962 [keepstation:PowerOnly:B] Running Loop=1
2026-03-13T16:24:52.962Z,1773419092.962 [keepstation:PowerOnly:C] Running Loop=1
2026-03-13T16:24:52.962Z,1773419092.962 [keepstation:PowerOnly:D] Running Loop=1
2026-03-13T16:24:52.963Z,1773419092.963 [keepstation:PowerOnly:E.Wait] Running Loop=1
2026-03-13T16:24:52.963Z,1773419092.963 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2026-03-13T16:24:52.963Z,1773419092.963 [keepstation:H.Pitch] Running Loop=1
2026-03-13T16:24:52.963Z,1773419092.963 [keepstation:H.Pitch](DEBUG): Initialize.
2026-03-13T16:24:52.971Z,1773419092.971 [keepstation:B] Running Loop=1
2026-03-13T16:24:52.972Z,1773419092.972 [keepstation:H.Pitch] Running Loop=1
2026-03-13T16:24:52.972Z,1773419092.972 [keepstation:PowerOnly] Running Loop=1
2026-03-13T16:24:52.973Z,1773419092.973 [keepstation:PowerOnly:D] Stopped
2026-03-13T16:24:52.973Z,1773419092.973 [keepstation:PowerOnly:C] Stopped
2026-03-13T16:24:52.973Z,1773419092.973 [keepstation:PowerOnly:B] Stopped
2026-03-13T16:24:52.973Z,1773419092.973 [keepstation:PowerOnly:A] Stopped
2026-03-13T16:24:52.973Z,1773419092.973 [keepstation:BackseatDriver] Running Loop=1
2026-03-13T16:24:52.973Z,1773419092.973 [keepstation:StandardEnvelopes] Running Loop=1
2026-03-13T16:24:52.973Z,1773419092.973 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2026-03-13T16:24:52.974Z,1773419092.974 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2026-03-13T16:24:52.974Z,1773419092.974 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2026-03-13T16:24:52.974Z,1773419092.974 [keepstation:B] Stopped
2026-03-13T16:24:52.974Z,1773419092.974 [keepstation:D] Running Loop=1
2026-03-13T16:24:53.376Z,1773419093.376 [keepstation:D] Stopped
2026-03-13T16:24:53.377Z,1773419093.377 [keepstation:E] Running Loop=1
2026-03-13T16:24:53.761Z,1773419093.761 [keepstation:E] Stopped
2026-03-13T16:24:53.761Z,1773419093.761 [keepstation:StartingMission] Running Loop=1
2026-03-13T16:24:53.761Z,1773419093.761 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2026-03-13T16:24:54.196Z,1773419094.196 [keepstation:SurfaceComms] Running Loop=1
2026-03-13T16:24:54.196Z,1773419094.196 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms
2026-03-13T16:24:54.196Z,1773419094.196 [keepstation:SurfaceComms:A] Running Loop=1
2026-03-13T16:24:54.196Z,1773419094.196 [keepstation:SurfaceComms:A] Stopped
2026-03-13T16:24:54.196Z,1773419094.196 [keepstation:SurfaceComms:B] Running Loop=1
2026-03-13T16:24:54.197Z,1773419094.197 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B
2026-03-13T16:24:54.610Z,1773419094.610 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2026-03-13T16:24:54.610Z,1773419094.610 [keepstation:NeedComms] Running Loop=1
2026-03-13T16:24:54.610Z,1773419094.610 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2026-03-13T16:24:54.610Z,1773419094.610 [keepstation:NeedComms:C.GoToSurface] Running Loop=1
2026-03-13T16:24:54.610Z,1773419094.610 [keepstation:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-03-13T16:24:54.611Z,1773419094.611 [keepstation:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2026-03-13T16:24:54.623Z,1773419094.623 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2026-03-13T16:24:54.624Z,1773419094.624 [keepstation:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2026-03-13T16:24:54.624Z,1773419094.624 [keepstation:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2026-03-13T16:24:54.624Z,1773419094.624 [keepstation:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-03-13T16:24:54.625Z,1773419094.625 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-03-13T16:24:54.625Z,1773419094.625 [keepstation:NeedComms:A] Running Loop=1
2026-03-13T16:24:54.626Z,1773419094.626 [keepstation:NeedComms:A](INFO): last time_fix was:  1773419077.000000 second since 1970/01/01T00:00:00Z 
2026-03-13T16:24:54.626Z,1773419094.626 [keepstation:NeedComms:A] Stopped
2026-03-13T16:24:54.626Z,1773419094.626 [keepstation:NeedComms:setActive] Running Loop=1
2026-03-13T16:24:54.626Z,1773419094.626 [keepstation:NeedComms:setActive](DEBUG): Aggregate::initialize keepstation:NeedComms:setActive
2026-03-13T16:24:54.627Z,1773419094.627 [keepstation:NeedComms:setActive:A] Running Loop=1
2026-03-13T16:24:55.133Z,1773419095.133 [keepstation:NeedComms:setActive:A] Stopped
2026-03-13T16:24:55.133Z,1773419095.133 [keepstation:NeedComms:setActive:B] Running Loop=1
2026-03-13T16:24:55.354Z,1773419095.354 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2026-03-13T16:24:55.472Z,1773419095.472 [keepstation:NeedComms:setActive:B] Stopped
2026-03-13T16:24:55.472Z,1773419095.472 [keepstation:NeedComms:setActive](INFO): Completed keepstation:NeedComms:setActive
2026-03-13T16:24:55.472Z,1773419095.472 [keepstation:NeedComms:setActive] Stopped
2026-03-13T16:24:55.472Z,1773419095.472 [keepstation:NeedComms:setActive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setActive
2026-03-13T16:24:55.835Z,1773419095.835 [keepstation:NeedComms:D] Running Loop=1
2026-03-13T16:24:56.306Z,1773419096.306 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense time_fix
2026-03-13T16:24:57.414Z,1773419097.414 [NAL9602](INFO): SBD MO Status=1, MOMSN=32811, MT Status=0, MTMSN=0
2026-03-13T16:24:57.414Z,1773419097.414 [NAL9602](INFO): No messages in MT queue
2026-03-13T16:24:58.826Z,1773419098.826 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,162457.00,A,3648.05732,N,12151.04463,W,0.486,339.53,130326,,,A*76
2026-03-13T16:24:58.833Z,1773419098.833 [NAL9602](INFO): GPS fix at 20260313T162457: (36.800955, -121.850744)
2026-03-13T16:24:58.898Z,1773419098.898 [keepstation:NeedComms:D] Stopped
2026-03-13T16:24:58.898Z,1773419098.898 [keepstation:NeedComms:E] Running Loop=1
2026-03-13T16:24:59.164Z,1773419099.164 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense platform_communications
2026-03-13T16:25:01.947Z,1773419101.947 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20260313T044322/Courier0087.lzma
2026-03-13T16:25:02.950Z,1773419102.950 [DataOverHttps](INFO): Moved sent file to Logs/20260313T044322/Courier0087.lzma.bak
2026-03-13T16:25:02.950Z,1773419102.950 [DataOverHttps](INFO): SBD MOMSN=26733593
2026-03-13T16:25:18.947Z,1773419118.947 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20260313T044322/Courier0092.lzma
2026-03-13T16:25:19.949Z,1773419119.949 [DataOverHttps](INFO): Moved sent file to Logs/20260313T044322/Courier0092.lzma.bak
2026-03-13T16:25:19.950Z,1773419119.950 [DataOverHttps](INFO): SBD MOMSN=26733596
2026-03-13T16:25:31.330Z,1773419131.330 [NAL9602](INFO): Not Powering down - fast GPS
2026-03-13T16:25:35.851Z,1773419135.851 [DataOverHttps](INFO): Sending 322 bytes from file Logs/20260313T044322/Express0085.lzma
2026-03-13T16:25:36.854Z,1773419136.853 [DataOverHttps](INFO): Moved sent file to Logs/20260313T044322/Express0085.lzma.bak
2026-03-13T16:25:36.854Z,1773419136.854 [DataOverHttps](INFO): SBD MOMSN=26733600
2026-03-13T16:25:52.792Z,1773419152.792 [DataOverHttps](INFO): Sending 385 bytes from file Logs/20260313T044322/Express0088.lzma
2026-03-13T16:25:53.793Z,1773419153.793 [DataOverHttps](INFO): Moved sent file to Logs/20260313T044322/Express0088.lzma.bak
2026-03-13T16:25:53.794Z,1773419153.794 [DataOverHttps](INFO): SBD MOMSN=26733622
2026-03-13T16:26:09.916Z,1773419169.916 [DataOverHttps](INFO): Sending 173 bytes from file Logs/20260313T044322/Express0089.lzma
2026-03-13T16:26:10.918Z,1773419170.918 [DataOverHttps](INFO): Moved sent file to Logs/20260313T044322/Express0089.lzma.bak
2026-03-13T16:26:10.918Z,1773419170.918 [DataOverHttps](INFO): SBD MOMSN=26733631
2026-03-13T16:26:26.803Z,1773419186.803 [DataOverHttps](INFO): Sending 226 bytes from file Logs/20260313T044322/Express0094.lzma
2026-03-13T16:26:27.805Z,1773419187.805 [DataOverHttps](INFO): Moved sent file to Logs/20260313T044322/Express0094.lzma.bak
2026-03-13T16:26:27.806Z,1773419187.806 [DataOverHttps](INFO): SBD MOMSN=26733638
2026-03-13T16:26:29.106Z,1773419189.106 [keepstation:NeedComms:E] Stopped
2026-03-13T16:26:29.106Z,1773419189.106 [keepstation:NeedComms:F] Running Loop=1
2026-03-13T16:26:29.504Z,1773419189.504 [keepstation:NeedComms:F](DEBUG): Initialize ReadDataComponent to sense time_fix
2026-03-13T16:26:31.110Z,1773419191.110 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,162630.00,A,3648.06811,N,12151.05405,W,0.836,305.74,130326,,,A*74
2026-03-13T16:26:31.113Z,1773419191.113 [NAL9602](INFO): GPS fix at 20260313T162630: (36.801135, -121.850901)
2026-03-13T16:26:31.169Z,1773419191.169 [keepstation:NeedComms:F] Stopped
2026-03-13T16:26:31.169Z,1773419191.169 [keepstation:NeedComms:setRestoreMode] Running Loop=1
2026-03-13T16:26:31.169Z,1773419191.169 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::initialize keepstation:NeedComms:setRestoreMode
2026-03-13T16:26:31.170Z,1773419191.170 [keepstation:NeedComms:setRestoreMode:A] Running Loop=1
2026-03-13T16:26:31.557Z,1773419191.557 [keepstation:NeedComms:setRestoreMode:A] Stopped
2026-03-13T16:26:31.557Z,1773419191.557 [keepstation:NeedComms:setRestoreMode](INFO): Completed keepstation:NeedComms:setRestoreMode
2026-03-13T16:26:31.557Z,1773419191.557 [keepstation:NeedComms:setRestoreMode] Stopped
2026-03-13T16:26:31.557Z,1773419191.557 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setRestoreMode
2026-03-13T16:26:31.557Z,1773419191.557 [keepstation:NeedComms:setInactive] Running Loop=1
2026-03-13T16:26:31.558Z,1773419191.558 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::initialize keepstation:NeedComms:setInactive
2026-03-13T16:26:31.558Z,1773419191.558 [keepstation:NeedComms:setInactive:A] Running Loop=1
2026-03-13T16:26:31.949Z,1773419191.949 [keepstation:NeedComms:setInactive:A] Stopped
2026-03-13T16:26:31.949Z,1773419191.949 [keepstation:NeedComms:setInactive](INFO): Completed keepstation:NeedComms:setInactive
2026-03-13T16:26:31.949Z,1773419191.949 [keepstation:NeedComms:setInactive] Stopped
2026-03-13T16:26:31.949Z,1773419191.949 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setInactive
2026-03-13T16:26:31.950Z,1773419191.950 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2026-03-13T16:26:31.950Z,1773419191.950 [keepstation:NeedComms] Stopped
2026-03-13T16:26:31.950Z,1773419191.950 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2026-03-13T16:26:31.950Z,1773419191.950 [keepstation:NeedComms:C.GoToSurface] Stopped
2026-03-13T16:26:31.950Z,1773419191.950 [keepstation:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-03-13T16:26:32.363Z,1773419192.363 [keepstation:SurfaceComms:B](INFO): Completed keepstation:SurfaceComms:B
2026-03-13T16:26:32.363Z,1773419192.363 [keepstation:SurfaceComms:B] Stopped
2026-03-13T16:26:32.363Z,1773419192.363 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B
2026-03-13T16:26:32.364Z,1773419192.364 [keepstation:SurfaceComms:HandleNan] Running Loop=1
2026-03-13T16:26:32.364Z,1773419192.364 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan
2026-03-13T16:26:32.364Z,1773419192.364 [keepstation:SurfaceComms:HandleNan:SetOnStation] Running Loop=1
2026-03-13T16:26:32.364Z,1773419192.364 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan:SetOnStation
2026-03-13T16:26:32.364Z,1773419192.364 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Running Loop=1
2026-03-13T16:26:32.781Z,1773419192.781 [keepstation:SurfaceComms:HandleNan] Stopped
2026-03-13T16:26:32.781Z,1773419192.781 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan
2026-03-13T16:26:32.781Z,1773419192.781 [keepstation:SurfaceComms:HandleNan:SetOnStation] Stopped
2026-03-13T16:26:32.781Z,1773419192.781 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan:SetOnStation
2026-03-13T16:26:32.781Z,1773419192.781 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Stopped
2026-03-13T16:26:32.781Z,1773419192.781 [keepstation:SurfaceComms:setTransit] Running Loop=1
2026-03-13T16:26:32.781Z,1773419192.781 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setTransit
2026-03-13T16:26:32.782Z,1773419192.782 [keepstation:SurfaceComms:setTransit:A] Running Loop=1
2026-03-13T16:26:33.172Z,1773419193.172 [keepstation:SurfaceComms:setTransit:A] Stopped
2026-03-13T16:26:33.172Z,1773419193.172 [keepstation:SurfaceComms:setTransit](INFO): Completed keepstation:SurfaceComms:setTransit
2026-03-13T16:26:33.172Z,1773419193.172 [keepstation:SurfaceComms:setTransit] Stopped
2026-03-13T16:26:33.172Z,1773419193.172 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setTransit
2026-03-13T16:26:33.173Z,1773419193.173 [keepstation:SurfaceComms:setStation] Running Loop=1
2026-03-13T16:26:33.173Z,1773419193.173 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setStation
2026-03-13T16:26:33.173Z,1773419193.173 [keepstation:SurfaceComms:setStation:A] Running Loop=1
2026-03-13T16:26:33.674Z,1773419193.674 [keepstation:SurfaceComms:setStation] Stopped
2026-03-13T16:26:33.674Z,1773419193.674 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setStation
2026-03-13T16:26:33.674Z,1773419193.674 [keepstation:SurfaceComms:setStation:A] Stopped
2026-03-13T16:26:33.674Z,1773419193.674 [keepstation:SurfaceComms:setSink] Running Loop=1
2026-03-13T16:26:33.674Z,1773419193.674 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setSink
2026-03-13T16:26:33.674Z,1773419193.674 [keepstation:SurfaceComms:setSink:A] Running Loop=1
2026-03-13T16:26:33.992Z,1773419193.992 [keepstation:SurfaceComms:setSink] Stopped
2026-03-13T16:26:33.992Z,1773419193.992 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setSink
2026-03-13T16:26:33.992Z,1773419193.992 [keepstation:SurfaceComms:setSink:A] Stopped
2026-03-13T16:26:33.992Z,1773419193.992 [keepstation:SurfaceComms](INFO): Completed keepstation:SurfaceComms
2026-03-13T16:26:33.992Z,1773419193.992 [keepstation:SurfaceComms] Stopped
2026-03-13T16:26:33.992Z,1773419193.992 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms
2026-03-13T16:26:34.393Z,1773419194.393 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2026-03-13T16:26:34.393Z,1773419194.393 [keepstation:StartingMission] Stopped
2026-03-13T16:26:34.393Z,1773419194.393 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2026-03-13T16:26:34.393Z,1773419194.393 [keepstation:TransitToStation] Running Loop=1
2026-03-13T16:26:34.393Z,1773419194.393 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2026-03-13T16:26:34.393Z,1773419194.393 [keepstation:TransitToStation:Dive] Running Loop=1
2026-03-13T16:26:34.393Z,1773419194.393 [keepstation:TransitToStation:Dive](DEBUG): Aggregate::initialize keepstation:TransitToStation:Dive
2026-03-13T16:26:34.393Z,1773419194.393 [keepstation:TransitToStation:Dive:A] Running Loop=1
2026-03-13T16:26:34.394Z,1773419194.394 [keepstation:TransitToStation:Dive:A](DEBUG): Aggregate::initialize keepstation:TransitToStation:Dive:A
2026-03-13T16:26:34.394Z,1773419194.394 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2026-03-13T16:26:34.394Z,1773419194.394 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2026-03-13T16:26:34.395Z,1773419194.395 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.806965,-121.824326
2026-03-13T16:26:34.841Z,1773419194.841 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.806965,-121.824326
2026-03-13T16:26:34.841Z,1773419194.841 [keepstation:TransitToStation:Dive] Running Loop=1
2026-03-13T16:26:34.841Z,1773419194.841 [keepstation:DiveCmd] Running Loop=1
2026-03-13T16:26:34.842Z,1773419194.842 [keepstation:DiveCmd](DEBUG): Aggregate::initialize keepstation:DiveCmd
2026-03-13T16:26:34.842Z,1773419194.842 [keepstation:DiveCmd:SurfaceSink] Running Loop=1
2026-03-13T16:26:34.842Z,1773419194.842 [keepstation:DiveCmd:SurfaceSink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink
2026-03-13T16:26:34.842Z,1773419194.842 [keepstation:DiveCmd:SurfaceSink:sink] Running Loop=1
2026-03-13T16:26:34.842Z,1773419194.842 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink:sink
2026-03-13T16:26:34.842Z,1773419194.842 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2026-03-13T16:26:34.843Z,1773419194.843 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-03-13T16:26:34.843Z,1773419194.843 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2026-03-13T16:26:34.843Z,1773419194.843 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2026-03-13T16:26:34.843Z,1773419194.843 [keepstation:DiveCmd:SurfaceSink:sink:C] Running Loop=1
2026-03-13T16:26:34.843Z,1773419194.843 [keepstation:DiveCmd:TransitToStation] Running Loop=1
2026-03-13T16:26:34.843Z,1773419194.843 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation
2026-03-13T16:26:34.843Z,1773419194.843 [keepstation:DiveCmd:TransitToStation:dive] Running Loop=1
2026-03-13T16:26:34.844Z,1773419194.844 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation:dive
2026-03-13T16:26:34.844Z,1773419194.844 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Running Loop=1
2026-03-13T16:26:34.844Z,1773419194.844 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-03-13T16:26:34.844Z,1773419194.844 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Running Loop=1
2026-03-13T16:26:34.844Z,1773419194.844 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Initialize.
2026-03-13T16:26:34.845Z,1773419194.845 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Running Loop=1
2026-03-13T16:26:34.845Z,1773419194.845 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Initialize.
2026-03-13T16:26:34.846Z,1773419194.846 [keepstation:DiveCmd:StationKeep] Running Loop=1
2026-03-13T16:26:34.847Z,1773419194.847 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::initialize keepstation:DiveCmd:StationKeep
2026-03-13T16:26:34.847Z,1773419194.847 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2026-03-13T16:26:34.848Z,1773419194.848 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2026-03-13T16:26:34.848Z,1773419194.848 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Initialize.
2026-03-13T16:26:34.849Z,1773419194.849 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2026-03-13T16:26:34.849Z,1773419194.849 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2026-03-13T16:26:34.850Z,1773419194.850 [keepstation:DiveCmd:StationKeep] Stopped
2026-03-13T16:26:34.851Z,1773419194.851 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:StationKeep
2026-03-13T16:26:34.851Z,1773419194.851 [keepstation:DiveCmd:StationKeep:A] Stopped
2026-03-13T16:26:34.851Z,1773419194.851 [keepstation:DiveCmd:StationKeep:B.Pitch] Stopped
2026-03-13T16:26:34.851Z,1773419194.851 [keepstation:DiveCmd:StationKeep:C.KeepStation] Stopped
2026-03-13T16:26:34.851Z,1773419194.851 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2026-03-13T16:26:34.851Z,1773419194.851 [keepstation:DiveCmd:TransitToStation] Running Loop=1
2026-03-13T16:26:34.851Z,1773419194.851 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Running Loop=1
2026-03-13T16:26:34.879Z,1773419194.879 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Running Loop=1
2026-03-13T16:26:34.880Z,1773419194.880 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Running Loop=1
2026-03-13T16:26:34.880Z,1773419194.880 [keepstation:DiveCmd:SurfaceSink] Stopped
2026-03-13T16:26:34.880Z,1773419194.880 [keepstation:DiveCmd:SurfaceSink](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink
2026-03-13T16:26:34.880Z,1773419194.880 [keepstation:DiveCmd:SurfaceSink:sink] Stopped
2026-03-13T16:26:34.880Z,1773419194.880 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink:sink
2026-03-13T16:26:34.881Z,1773419194.881 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2026-03-13T16:26:34.881Z,1773419194.881 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-03-13T16:26:34.881Z,1773419194.881 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Stopped
2026-03-13T16:26:34.881Z,1773419194.881 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2026-03-13T16:26:34.881Z,1773419194.881 [keepstation:DiveCmd:SurfaceSink:sink:C] Stopped
2026-03-13T16:27:03.794Z,1773419223.794 [NAL9602](INFO): SBD MO Status=2, MOMSN=32812, MT Status=2, MTMSN=0
2026-03-13T16:27:03.794Z,1773419223.794 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T16:27:31.848Z,1773419251.848 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position -2.43 mm.
2026-03-13T16:27:49.276Z,1773419269.276 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position -2.43 mm (1 active estimators).
2026-03-13T16:28:01.152Z,1773419281.152 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T16:28:32.276Z,1773419312.276 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T16:28:49.620Z,1773419329.620 [Radio_Surface](INFO): Powering down
2026-03-13T16:29:03.400Z,1773419343.400 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T16:29:04.404Z,1773419344.404 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2026-03-13T16:29:37.536Z,1773419377.536 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.955154
2026-03-13T16:31:33.141Z,1773419493.141 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2026-03-13T16:32:03.844Z,1773419523.844 [NAL9602](INFO): Not Powering down - fast GPS
2026-03-13T16:36:31.408Z,1773419791.408 [GFScanner](IMPORTANT): Beginning ground fault scan
2026-03-13T16:36:35.858Z,1773419795.858 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.000180
CHAN A1 (24V): 0.001280
CHAN A2 (12V): 0.000552
CHAN A3 (5V): -0.001631
CHAN B0 (3.3V): 0.000069
CHAN B1 (3.15aV): -0.000092
CHAN B2 (3.15bV): -0.000440
CHAN B3 (GND): -0.000895
OPEN: 0.006513
Full Scale: +/- 1 mA
2026-03-13T16:46:31.380Z,1773420391.380 [keepstation:SurfaceComms] Running Loop=1
2026-03-13T16:46:31.380Z,1773420391.380 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms
2026-03-13T16:46:31.380Z,1773420391.380 [keepstation:SurfaceComms:A] Running Loop=1
2026-03-13T16:46:31.381Z,1773420391.381 [keepstation:SurfaceComms:A] Stopped
2026-03-13T16:46:31.381Z,1773420391.381 [keepstation:SurfaceComms:B] Running Loop=1
2026-03-13T16:46:31.381Z,1773420391.381 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B
2026-03-13T16:46:31.383Z,1773420391.383 [keepstation:NeedComms] Running Loop=1
2026-03-13T16:46:31.383Z,1773420391.383 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2026-03-13T16:46:31.383Z,1773420391.383 [keepstation:NeedComms:C.GoToSurface] Running Loop=1
2026-03-13T16:46:31.383Z,1773420391.383 [keepstation:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-03-13T16:46:31.383Z,1773420391.383 [keepstation:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2026-03-13T16:46:31.384Z,1773420391.384 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2026-03-13T16:46:31.384Z,1773420391.384 [keepstation:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2026-03-13T16:46:31.384Z,1773420391.384 [keepstation:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2026-03-13T16:46:31.385Z,1773420391.385 [keepstation:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-03-13T16:46:31.385Z,1773420391.385 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-03-13T16:46:31.385Z,1773420391.385 [keepstation:NeedComms:A] Running Loop=1
2026-03-13T16:46:31.387Z,1773420391.387 [keepstation:NeedComms:A](INFO): last time_fix was:  1773419190.000000 second since 1970/01/01T00:00:00Z 
2026-03-13T16:46:31.387Z,1773420391.387 [keepstation:NeedComms:A] Stopped
2026-03-13T16:46:31.387Z,1773420391.387 [keepstation:NeedComms:setActive] Running Loop=1
2026-03-13T16:46:31.387Z,1773420391.387 [keepstation:NeedComms:setActive](DEBUG): Aggregate::initialize keepstation:NeedComms:setActive
2026-03-13T16:46:31.387Z,1773420391.387 [keepstation:NeedComms:setActive:A] Running Loop=1
2026-03-13T16:46:31.772Z,1773420391.772 [keepstation:TransitToStation:Dive] Stopped
2026-03-13T16:46:31.772Z,1773420391.772 [keepstation:TransitToStation:Dive](DEBUG): Aggregate::uninitialize keepstation:TransitToStation:Dive
2026-03-13T16:46:31.772Z,1773420391.772 [keepstation:TransitToStation:Dive:A] Stopped
2026-03-13T16:46:31.773Z,1773420391.773 [keepstation:TransitToStation:Dive:A](DEBUG): Aggregate::uninitialize keepstation:TransitToStation:Dive:A
2026-03-13T16:46:31.773Z,1773420391.773 [keepstation:DiveCmd:TransitToStation] Stopped
2026-03-13T16:46:31.773Z,1773420391.773 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation
2026-03-13T16:46:31.773Z,1773420391.773 [keepstation:DiveCmd:TransitToStation:dive] Stopped
2026-03-13T16:46:31.773Z,1773420391.773 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation:dive
2026-03-13T16:46:31.773Z,1773420391.773 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Stopped
2026-03-13T16:46:31.773Z,1773420391.773 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-03-13T16:46:31.773Z,1773420391.773 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Stopped
2026-03-13T16:46:31.774Z,1773420391.774 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Stopped
2026-03-13T16:46:31.774Z,1773420391.774 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Uninitialize.
2026-03-13T16:46:31.777Z,1773420391.777 [keepstation:NeedComms:setActive:A] Stopped
2026-03-13T16:46:31.777Z,1773420391.777 [keepstation:NeedComms:setActive:B] Running Loop=1
2026-03-13T16:46:32.177Z,1773420392.177 [keepstation:NeedComms:setActive:B] Stopped
2026-03-13T16:46:32.177Z,1773420392.177 [keepstation:NeedComms:setActive](INFO): Completed keepstation:NeedComms:setActive
2026-03-13T16:46:32.177Z,1773420392.177 [keepstation:NeedComms:setActive] Stopped
2026-03-13T16:46:32.177Z,1773420392.177 [keepstation:NeedComms:setActive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setActive
2026-03-13T16:47:14.177Z,1773420434.177 [keepstation:NeedComms:D] Running Loop=1
2026-03-13T16:47:14.703Z,1773420434.703 [Radio_Surface](INFO): Powering up
2026-03-13T16:47:19.960Z,1773420439.960 [DataOverHttps](INFO): Radio surface powered ON.
2026-03-13T16:47:46.865Z,1773420466.865 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2026-03-13T16:47:46.943Z,1773420466.943 [NAL9602](ERROR): received: 
+CSQ:0

OK812, 2, 0, 0, 0

OK
2026-03-13T16:47:47.266Z,1773420467.266 [BPC1](ERROR): Battery stick #17 (s/n: 0084) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2026-03-13T16:47:47.267Z,1773420467.267 [BPC1](ERROR): Battery stick #24 (s/n: 01D3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T16:47:47.268Z,1773420467.268 [BPC1](ERROR): Battery stick #29 (s/n: 00A7) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2026-03-13T16:47:47.269Z,1773420467.269 [BPC1](ERROR): Battery stick #30 (s/n: 015F) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T16:47:47.269Z,1773420467.269 [BPC1](ERROR): Battery stick #37 (s/n: 0181) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T16:47:47.270Z,1773420467.270 [BPC1](ERROR): Battery stick #38 (s/n: 01BC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T16:47:47.271Z,1773420467.271 [BPC1](ERROR): Battery stick #39 (s/n: 0189) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T16:47:47.272Z,1773420467.272 [BPC1](ERROR): Battery stick #40 (s/n: 01A4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T16:47:47.272Z,1773420467.272 [BPC1](ERROR): Battery stick #44 (s/n: 01BB) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T16:47:47.273Z,1773420467.273 [BPC1](ERROR): Battery stick #50 (s/n: 019C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T16:47:47.274Z,1773420467.274 [BPC1](ERROR): Battery stick #51 (s/n: 01D6) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T16:47:47.275Z,1773420467.275 [BPC1](ERROR): Battery stick #52 (s/n: 0160) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T16:47:47.276Z,1773420467.276 [BPC1](ERROR): Battery stick #53 (s/n: 01EE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T16:47:47.276Z,1773420467.276 [BPC1](ERROR): Battery stick #56 (s/n: 0183) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T16:47:47.277Z,1773420467.277 [BPC1](ERROR): Battery stick #57 (s/n: 019F) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2026-03-13T16:47:47.278Z,1773420467.278 [BPC1](ERROR): Battery stick #59 (s/n: 0184) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x5AD0.
2026-03-13T16:47:47.278Z,1773420467.278 [BPC1](INFO): Calculating totals. Valid battery stick count: 30. Valid reserve battery stick count: 2.
2026-03-13T16:47:47.304Z,1773420467.304 [BPC1](FAULT): Failed to receive data from 28 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 6, 8, 9, 10, 11, 13, 14, 15, 16, 17, 24, 29, 30, 37, 38, 39, 40, 44, 50, 51, 52, 53, 56, 57, 59.
2026-03-13T16:47:50.080Z,1773420470.080 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T16:48:00.206Z,1773420480.206 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=32812, MT Status=1, MTMSN=1203
2026-03-13T16:48:00.206Z,1773420480.206 [NAL9602](INFO): Data available in MT queue
2026-03-13T16:48:00.688Z,1773420480.688 [NAL9602](INFO): Received command: stop
2026-03-13T16:48:00.732Z,1773420480.732 [CommandExec](IMPORTANT): got command stop
2026-03-13T16:48:00.732Z,1773420480.732 [CommandExec](IMPORTANT): Scheduling is paused
2026-03-13T16:48:00.733Z,1773420480.733 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2026-03-13T16:48:01.022Z,1773420481.022 [MissionManager](INFO): MissionManager is completed.
2026-03-13T16:48:01.022Z,1773420481.022 [MissionManager](INFO): Uninitializing Mission keepstation
2026-03-13T16:48:01.023Z,1773420481.023 [keepstation] Stopped
2026-03-13T16:48:01.023Z,1773420481.023 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2026-03-13T16:48:01.023Z,1773420481.023 [keepstation:NeedComms] Stopped
2026-03-13T16:48:01.023Z,1773420481.023 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2026-03-13T16:48:01.023Z,1773420481.023 [keepstation:NeedComms:C.GoToSurface] Stopped
2026-03-13T16:48:01.023Z,1773420481.023 [keepstation:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-03-13T16:48:01.023Z,1773420481.023 [keepstation:NeedComms:D] Stopped
2026-03-13T16:48:01.023Z,1773420481.023 [keepstation:StandardEnvelopes] Stopped
2026-03-13T16:48:01.023Z,1773420481.023 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2026-03-13T16:48:01.023Z,1773420481.023 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2026-03-13T16:48:01.024Z,1773420481.024 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2026-03-13T16:48:01.024Z,1773420481.024 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2026-03-13T16:48:01.024Z,1773420481.024 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2026-03-13T16:48:01.024Z,1773420481.024 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2026-03-13T16:48:01.024Z,1773420481.024 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2026-03-13T16:48:01.024Z,1773420481.024 [keepstation:BackseatDriver] Stopped
2026-03-13T16:48:01.024Z,1773420481.024 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2026-03-13T16:48:01.024Z,1773420481.024 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2026-03-13T16:48:01.024Z,1773420481.024 [keepstation:PowerOnly] Stopped
2026-03-13T16:48:01.024Z,1773420481.024 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2026-03-13T16:48:01.024Z,1773420481.024 [keepstation:PowerOnly:E.Wait] Stopped
2026-03-13T16:48:01.024Z,1773420481.024 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2026-03-13T16:48:01.024Z,1773420481.024 [keepstation:H.Pitch] Stopped
2026-03-13T16:48:01.025Z,1773420481.025 [keepstation:SurfaceComms] Stopped
2026-03-13T16:48:01.025Z,1773420481.025 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms
2026-03-13T16:48:01.025Z,1773420481.025 [keepstation:SurfaceComms:B] Stopped
2026-03-13T16:48:01.025Z,1773420481.025 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B
2026-03-13T16:48:01.025Z,1773420481.025 [keepstation:DiveCmd] Stopped
2026-03-13T16:48:01.025Z,1773420481.025 [keepstation:DiveCmd](DEBUG): Aggregate::uninitialize keepstation:DiveCmd
2026-03-13T16:48:01.025Z,1773420481.025 [keepstation:TransitToStation] Stopped
2026-03-13T16:48:01.025Z,1773420481.025 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2026-03-13T16:48:01.025Z,1773420481.025 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2026-03-13T16:48:01.025Z,1773420481.025 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2026-03-13T16:48:01.437Z,1773420481.437 [MissionManager](IMPORTANT): Started mission Default
2026-03-13T16:48:01.437Z,1773420481.437 [Default] Running Loop=1
2026-03-13T16:48:01.437Z,1773420481.437 [Default](DEBUG): Aggregate::initialize Default
2026-03-13T16:48:01.437Z,1773420481.437 [Default:B.GoToSurface] Running Loop=1
2026-03-13T16:48:01.437Z,1773420481.437 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-03-13T16:48:01.437Z,1773420481.437 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2026-03-13T16:48:01.438Z,1773420481.438 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2026-03-13T16:48:01.438Z,1773420481.438 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2026-03-13T16:48:01.438Z,1773420481.438 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2026-03-13T16:48:01.438Z,1773420481.438 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-03-13T16:48:01.439Z,1773420481.439 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-03-13T16:48:01.439Z,1773420481.439 [Default:A.Wait] Running Loop=1
2026-03-13T16:48:01.440Z,1773420481.440 [Default:A.Wait](DEBUG): Initialize Wait Component.
2026-03-13T16:48:01.818Z,1773420481.818 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,164801.00,A,3648.26320,N,12150.42452,W,1.089,359.22,130326,,,A*72
2026-03-13T16:48:01.821Z,1773420481.821 [NAL9602](INFO): GPS fix at 20260313T164801: (36.804387, -121.840409)
2026-03-13T16:48:01.833Z,1773420481.833 [UniversalFixResidualReporter](INFO): Fix residual: 10.8 %DT, over the last 974.1 m. Residual distance 104.9 m at bearing 178.6 degrees. Fix at (36.8044, -121.8404) with 1001.7 m made good.
2026-03-13T16:48:14.752Z,1773420494.752 [Default:A.Wait](INFO): Done Waiting.
2026-03-13T16:48:14.752Z,1773420494.752 [Default:A.Wait] Stopped
2026-03-13T16:48:14.752Z,1773420494.752 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2026-03-13T16:48:15.164Z,1773420495.164 [Default:CheckIn] Running Loop=1
2026-03-13T16:48:15.164Z,1773420495.164 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2026-03-13T16:48:15.164Z,1773420495.164 [Default:CheckIn:Read_GPS] Running Loop=1
2026-03-13T16:48:17.165Z,1773420497.165 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,164816.00,A,3648.26515,N,12150.42428,W,0.486,346.30,130326,,,A*7E
2026-03-13T16:48:17.168Z,1773420497.168 [NAL9602](INFO): GPS fix at 20260313T164816: (36.804419, -121.840405)
2026-03-13T16:48:17.178Z,1773420497.178 [Default:CheckIn:Read_GPS] Stopped
2026-03-13T16:48:17.178Z,1773420497.178 [Default:CheckIn:Read_Iridium] Running Loop=1
2026-03-13T16:48:21.204Z,1773420501.204 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T16:48:32.586Z,1773420512.586 [NAL9602](INFO): SBD MO Status=1, MOMSN=32813, MT Status=0, MTMSN=0
2026-03-13T16:48:32.636Z,1773420512.636 [NAL9602](INFO): Sent 94 bytes from file Logs/20260313T044322/Courier0096.lzma
2026-03-13T16:48:32.636Z,1773420512.636 [NAL9602](INFO): Packets left to send: 0
2026-03-13T16:48:48.406Z,1773420528.406 [NAL9602](INFO): SBD MO Status=1, MOMSN=32814, MT Status=0, MTMSN=0
2026-03-13T16:48:48.460Z,1773420528.460 [NAL9602](INFO): Sent 332 bytes from file Logs/20260313T044322/Express0097.lzma
2026-03-13T16:48:48.460Z,1773420528.460 [NAL9602](INFO): Packets left to send: 2
2026-03-13T16:48:52.328Z,1773420532.328 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T16:49:02.623Z,1773420542.623 [NAL9602](INFO): SBD MO Status=1, MOMSN=32815, MT Status=0, MTMSN=0
2026-03-13T16:49:02.674Z,1773420542.674 [NAL9602](INFO): Sent 332 bytes from file Logs/20260313T044322/Express0097.lzma
2026-03-13T16:49:02.674Z,1773420542.674 [NAL9602](INFO): Packets left to send: 1
2026-03-13T16:49:20.472Z,1773420560.472 [NAL9602](INFO): SBD MO Status=1, MOMSN=32816, MT Status=0, MTMSN=0
2026-03-13T16:49:20.524Z,1773420560.524 [NAL9602](INFO): Sent 140 bytes from file Logs/20260313T044322/Express0097.lzma
2026-03-13T16:49:20.524Z,1773420560.524 [NAL9602](INFO): Packets left to send: 0
2026-03-13T16:49:23.453Z,1773420563.453 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T16:49:32.188Z,1773420572.188 [NAL9602](INFO): SBD MO Status=2, MOMSN=32817, MT Status=2, MTMSN=0
2026-03-13T16:49:32.189Z,1773420572.189 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-03-13T16:49:41.482Z,1773420581.482 [NAL9602](INFO): SBD MO Status=0, MOMSN=32817, MT Status=0, MTMSN=0
2026-03-13T16:49:54.576Z,1773420594.576 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T16:49:54.894Z,1773420594.894 [NAL9602](INFO): SBD MO Status=1, MOMSN=32818, MT Status=0, MTMSN=0
2026-03-13T16:49:54.948Z,1773420594.948 [NAL9602](INFO): Sent 39 bytes from file Logs/20260313T044322/Courier0099.lzma
2026-03-13T16:49:54.948Z,1773420594.948 [NAL9602](INFO): Packets left to send: 0
2026-03-13T16:50:03.028Z,1773420603.028 [NAL9602](INFO): SBD MO Status=1, MOMSN=32819, MT Status=0, MTMSN=0
2026-03-13T16:50:03.076Z,1773420603.076 [NAL9602](INFO): Sent 76 bytes from file Logs/20260313T044322/Express0100.lzma
2026-03-13T16:50:03.076Z,1773420603.076 [NAL9602](INFO): Packets left to send: 0
2026-03-13T16:50:13.538Z,1773420613.538 [NAL9602](INFO): SBD MO Status=0, MOMSN=32820, MT Status=0, MTMSN=0
2026-03-13T16:50:13.616Z,1773420613.616 [Default:CheckIn:Read_Iridium] Stopped
2026-03-13T16:50:13.616Z,1773420613.616 [Default:CheckIn:C.Wait] Running Loop=1
2026-03-13T16:50:13.616Z,1773420613.616 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2026-03-13T16:50:25.700Z,1773420625.700 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-03-13T16:50:44.240Z,1773420644.240 [NAL9602](INFO): Not Powering down - fast GPS
2026-03-13T16:50:56.696Z,1773420656.696 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003194
2026-03-13T16:55:09.165Z,1773420909.165 [DataOverHttps](IMPORTANT): SBD MTMSN=20260313T165508
2026-03-13T16:55:14.179Z,1773420914.179 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2026-03-13T16:55:14.179Z,1773420914.179 [Default:CheckIn:C.Wait] Stopped
2026-03-13T16:55:14.179Z,1773420914.179 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2026-03-13T16:55:14.201Z,1773420914.201 [Default:CheckIn:D] Running Loop=1
2026-03-13T16:55:14.591Z,1773420914.591 [Default:CheckIn:D] Stopped
2026-03-13T16:55:14.591Z,1773420914.591 [Default:CheckIn:E] Running Loop=1
2026-03-13T16:55:14.992Z,1773420914.992 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  7.219170 min 
2026-03-13T16:55:14.993Z,1773420914.993 [Default:CheckIn:E] Stopped
2026-03-13T16:55:14.993Z,1773420914.993 [Default:CheckIn](INFO): Completed Default:CheckIn
2026-03-13T16:55:14.993Z,1773420914.993 [Default:CheckIn] Stopped
2026-03-13T16:55:14.993Z,1773420914.993 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2026-03-13T16:55:14.993Z,1773420914.993 [Default:CheckIn](INFO): Running loop #2
2026-03-13T16:55:14.993Z,1773420914.993 [Default:CheckIn] Running Loop=2
2026-03-13T16:55:14.993Z,1773420914.993 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2026-03-13T16:55:14.993Z,1773420914.993 [Default:CheckIn:Read_GPS] Running Loop=1
2026-03-13T16:55:16.579Z,1773420916.579 [DataOverHttps](INFO): Received command: restart logs